67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.1s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.0s | 3 errors · 240 warnings · 273 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.034ms + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.803ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.180ms + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566686 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566686 ms (missed cycles : 2).[0m ×2 + 0.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.532ms + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.566ms + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.023ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903219 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903219 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.493ms + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.110ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.287995 ms (missed cycles : 10). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.287995 ms (missed cycles : 10).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.293ms + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 3.64sINFOjoint_trajectory_controllerGot request to cancel goal + 3.64sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.64sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.64sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782411209.53853440 seconds ×3 + 3.67sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.67sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.464ms + 3.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287582 ms (missed cycles : 2). + 3.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287582 ms (missed cycles : 2).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.944ms + 4.20sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.20sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.20sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.20sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782411210.08678579 seconds. ×3 + 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 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.575ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.544ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756037 ms (missed cycles : 3). + 4.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756037 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.614ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.416ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.869ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.952ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.679ms + 5.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860976 ms (missed cycles : 4). + 5.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860976 ms (missed cycles : 4).[0m ×2 + 5.89sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.93sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.94sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.94sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.94sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.719ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.304ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.829ms + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.203ms + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192412 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192412 ms (missed cycles : 2).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.740ms + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594698 ms (missed cycles : 4). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.594698 ms (missed cycles : 4).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.841ms + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700772 ms (missed cycles : 3). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700772 ms (missed cycles : 3).[0m ×2 + 9.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.043ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029292 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029292 ms (missed cycles : 2).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.700ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.636ms + 11.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234421 ms (missed cycles : 3). + 11.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234421 ms (missed cycles : 3).[0m ×2 + 11.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.167ms + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.121ms + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.197ms + 12.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111546 ms (missed cycles : 2). + 12.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111546 ms (missed cycles : 2).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.635ms + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.806ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772818 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.772818 ms (missed cycles : 2).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.091ms + 13.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.799ms + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.133ms + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.749ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155132 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155132 ms (missed cycles : 2).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.107ms + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.701ms + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.393ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733695 ms (missed cycles : 5). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.733695 ms (missed cycles : 5).[0m ×2 + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.475ms + 15.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.957ms + 15.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 16.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176724 ms (missed cycles : 2). + 16.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176724 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.473ms + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.528ms + 17.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.396ms + 17.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930774 ms (missed cycles : 3). + 17.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.930774 ms (missed cycles : 3).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.180ms + 18.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732077 ms (missed cycles : 4). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.732077 ms (missed cycles : 4).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.685ms + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.808ms + 18.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.077ms + 19.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735966 ms (missed cycles : 2). + 19.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735966 ms (missed cycles : 2).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.797ms + 19.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.776ms + 19.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.905ms + 20.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759374 ms (missed cycles : 2). + 20.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759374 ms (missed cycles : 2).[0m ×2 + 20.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.534ms + 20.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.237ms + 20.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.934ms + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164529 ms (missed cycles : 2). + 21.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164529 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.976ms + 21.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.171ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283801 ms (missed cycles : 3). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283801 ms (missed cycles : 3).[0m ×2 + 22.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.778ms + 22.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.496ms + 22.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.807ms + 23.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.909ms + 23.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.625ms + 23.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401044 ms (missed cycles : 3). + 23.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401044 ms (missed cycles : 3).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.564ms + 23.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.347ms + 24.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.456ms + 24.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.208ms + 24.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.049ms + 24.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374409 ms (missed cycles : 6). + 24.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.374409 ms (missed cycles : 6).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.979ms + 25.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.877ms + 25.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310836 ms (missed cycles : 3). + 25.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310836 ms (missed cycles : 3).[0m ×2 + 25.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.077ms + 26.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.629ms + 26.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.044ms + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412710 ms (missed cycles : 2). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.412710 ms (missed cycles : 2).[0m ×2 + 26.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 18.590ms + 27.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.725ms + 27.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.937ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464633 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.464633 ms (missed cycles : 2).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 28.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.064ms + 28.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852033 ms (missed cycles : 2). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.852033 ms (missed cycles : 2).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.958ms + 29.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms ×2 + 29.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.113ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082791 ms (missed cycles : 2). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082791 ms (missed cycles : 2).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.004ms + 29.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.757ms + 30.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.649ms + 30.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.696ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901768 ms (missed cycles : 6). + 30.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.901768 ms (missed cycles : 6).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms ×2 + 31.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.693ms + 31.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321682 ms (missed cycles : 2). + 31.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321682 ms (missed cycles : 2).[0m ×2 + 32.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 32.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.252ms + 32.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313683 ms (missed cycles : 3). + 32.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313683 ms (missed cycles : 3).[0m ×2 + 33.23sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.23sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.63sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041424 ms (missed cycles : 4). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.041424 ms (missed cycles : 4).[0m ×2 + 34.28sWARNobjective_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 + 34.28sINFOobjective_server_nodePlanning for 40 path waypoints. ×9 + 34.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235857 ms (missed cycles : 3). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235857 ms (missed cycles : 3).[0m ×2 + 35.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 35.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.002ms + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.534161 ms (missed cycles : 9). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.534161 ms (missed cycles : 9).[0m ×2 + 36.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.296ms + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812618 ms (missed cycles : 3). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812618 ms (missed cycles : 3).[0m ×2 + 37.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.991ms + 37.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.516ms + 38.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.763ms + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285957 ms (missed cycles : 4). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285957 ms (missed cycles : 4).[0m ×2 + 38.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.573ms + 38.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.408ms + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843487 ms (missed cycles : 3). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843487 ms (missed cycles : 3).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.580ms + 39.91sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 40.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623177 ms (missed cycles : 2). + 40.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623177 ms (missed cycles : 2).[0m ×2 + 41.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413154 ms (missed cycles : 3). + 41.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413154 ms (missed cycles : 3).[0m ×2 + 42.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154162 ms (missed cycles : 3). + 42.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.154162 ms (missed cycles : 3).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.268ms + 43.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275775 ms (missed cycles : 3). + 43.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275775 ms (missed cycles : 3).[0m ×2 + 43.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.058ms + 43.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.236ms + 43.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 44.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.251ms + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818090 ms (missed cycles : 2). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818090 ms (missed cycles : 2).[0m ×2 + 44.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.126ms ×2 + 45.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321948 ms (missed cycles : 3). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.321948 ms (missed cycles : 3).[0m ×2 + 45.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.071ms + 46.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 46.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422965 ms (missed cycles : 5). + 46.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.422965 ms (missed cycles : 5).[0m ×2 + 46.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.046ms + 47.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196364 ms (missed cycles : 2). + 47.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196364 ms (missed cycles : 2).[0m ×2 + 47.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.744ms + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106992 ms (missed cycles : 2). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106992 ms (missed cycles : 2).[0m ×2 + 48.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.398ms + 49.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 49.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.143ms + 49.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869261 ms (missed cycles : 2). + 49.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869261 ms (missed cycles : 2).[0m ×2 + 50.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925671 ms (missed cycles : 3). + 50.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925671 ms (missed cycles : 3).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 51.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.471ms + 51.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942273 ms (missed cycles : 2). + 51.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942273 ms (missed cycles : 2).[0m ×2 + 52.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.361ms + 52.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.344ms + 52.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299035 ms (missed cycles : 2). + 52.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299035 ms (missed cycles : 2).[0m ×2 + 53.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445494 ms (missed cycles : 3). + 53.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.445494 ms (missed cycles : 3).[0m ×2 + 54.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.690ms + 54.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835699 ms (missed cycles : 7). + 54.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.835699 ms (missed cycles : 7).[0m ×2 + 54.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.058ms + 55.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.141ms + 55.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 55.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533036 ms (missed cycles : 3). + 55.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533036 ms (missed cycles : 3).[0m ×2 + 55.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.477ms + 56.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.969ms + 56.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554201 ms (missed cycles : 3). + 56.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554201 ms (missed cycles : 3).[0m ×2 + 57.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.802ms + 57.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320439 ms (missed cycles : 2). + 57.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320439 ms (missed cycles : 2).[0m ×2 + 58.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.730ms + 58.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885013 ms (missed cycles : 3). + 58.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885013 ms (missed cycles : 3).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.153ms + 59.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 59.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.265ms + 59.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009733 ms (missed cycles : 5). + 59.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.009733 ms (missed cycles : 5).[0m ×2 + 60.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.545ms + 60.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361812 ms (missed cycles : 2). + 60.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361812 ms (missed cycles : 2).[0m ×2 + 61.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.542ms + 61.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.037ms + 61.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913539 ms (missed cycles : 4). + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.913539 ms (missed cycles : 4).[0m ×2 + 62.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109497 ms (missed cycles : 2). + 62.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109497 ms (missed cycles : 2).[0m ×2 + 64.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166801 ms (missed cycles : 6). + 64.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166801 ms (missed cycles : 6).[0m ×2 + 65.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534978 ms (missed cycles : 5). + 65.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.534978 ms (missed cycles : 5).[0m ×2 + 66.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302090 ms (missed cycles : 3). + 66.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302090 ms (missed cycles : 3).[0m ×2 + 67.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953629 ms (missed cycles : 3). + 67.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953629 ms (missed cycles : 3).[0m ×2 + 67.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.310ms + 68.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462584 ms (missed cycles : 4). + 68.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462584 ms (missed cycles : 4).[0m ×2 + 68.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.793ms + 69.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452654 ms (missed cycles : 5). + 69.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452654 ms (missed cycles : 5).[0m ×2 + 69.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.762ms + 70.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.315ms + 70.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963705 ms (missed cycles : 4). + 70.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.963705 ms (missed cycles : 4).[0m ×2 + 70.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.138ms + 71.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953599 ms (missed cycles : 2). + 71.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953599 ms (missed cycles : 2).[0m ×2 + 71.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 72.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 72.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 72.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 72.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 73.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 73.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 73.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 74.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 74.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 74.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 74.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 74.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 75.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 75.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 75.64sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 75.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 76.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 76.20sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 76.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 76.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 76.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 76.58sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 76.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 77.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 77.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 77.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 77.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 77.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 78.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 78.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.8s | 195 warnings · 182 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2).[0m ×2 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411048.65031290 seconds ×3 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.37sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.929ms + 0.70sWARNobjective_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 + 0.70sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.70sINFOobjective_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 + 0.70sINFOobjective_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 + 0.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411049.21721673 seconds. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_server_nodeFound path in 0 iterations (1.9501e-05 s). ×2 + 1.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.67sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.67sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.67sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.593ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963952 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963952 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411052.28736258 seconds ×3 + 3.96sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.329ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981154 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981154 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411052.84273887 seconds. ×3 + 4.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392399 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392399 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145390 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145390 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741604 ms (missed cycles : 4). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.741604 ms (missed cycles : 4).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 1043 particles 723 points - 1.128ms + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048086 ms (missed cycles : 4). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.048086 ms (missed cycles : 4).[0m ×2 + 8.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504170 ms (missed cycles : 3). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504170 ms (missed cycles : 3).[0m ×2 + 9.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 9.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 10.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446532 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.446532 ms (missed cycles : 3).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288024 ms (missed cycles : 2). + 11.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288024 ms (missed cycles : 2).[0m ×2 + 11.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 11.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018907 ms (missed cycles : 3). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018907 ms (missed cycles : 3).[0m ×2 + 12.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 12.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 13.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697987 ms (missed cycles : 2). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697987 ms (missed cycles : 2).[0m ×2 + 13.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 13.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258901 ms (missed cycles : 6). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.258901 ms (missed cycles : 6).[0m ×2 + 14.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 15.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613203 ms (missed cycles : 3). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613203 ms (missed cycles : 3).[0m ×2 + 15.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994102 ms (missed cycles : 4). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.994102 ms (missed cycles : 4).[0m ×2 + 16.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 17.27sINFOros2_control_nodeMuJoCo sim: 0.41% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541966 ms (missed cycles : 5). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.541966 ms (missed cycles : 5).[0m ×2 + 17.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 18.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 18.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.314882 ms (missed cycles : 7). + 18.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.314882 ms (missed cycles : 7).[0m ×2 + 19.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123760 ms (missed cycles : 2). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123760 ms (missed cycles : 2).[0m ×2 + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 20.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113795 ms (missed cycles : 6). + 20.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.113795 ms (missed cycles : 6).[0m ×2 + 20.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.102ms + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 21.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 21.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136859 ms (missed cycles : 3). + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136859 ms (missed cycles : 3).[0m ×2 + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 22.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229116 ms (missed cycles : 2). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229116 ms (missed cycles : 2).[0m ×2 + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 23.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827676 ms (missed cycles : 4). + 23.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.827676 ms (missed cycles : 4).[0m ×2 + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 24.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 24.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442500 ms (missed cycles : 3). + 24.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442500 ms (missed cycles : 3).[0m ×2 + 25.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 25.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.005780 ms (missed cycles : 6). + 25.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.005780 ms (missed cycles : 6).[0m ×2 + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 26.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421432 ms (missed cycles : 2). + 26.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421432 ms (missed cycles : 2).[0m ×2 + 27.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166658 ms (missed cycles : 6). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.166658 ms (missed cycles : 6).[0m ×2 + 28.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 28.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.350074 ms (missed cycles : 8). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.350074 ms (missed cycles : 8).[0m ×2 + 29.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 29.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203073 ms (missed cycles : 4). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203073 ms (missed cycles : 4).[0m ×2 + 30.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 30.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701718 ms (missed cycles : 4). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.701718 ms (missed cycles : 4).[0m ×2 + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.751ms + 31.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184619 ms (missed cycles : 2). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184619 ms (missed cycles : 2).[0m ×2 + 32.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 32.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 33.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361227 ms (missed cycles : 8). + 33.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361227 ms (missed cycles : 8).[0m ×2 + 33.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063242 ms (missed cycles : 3). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063242 ms (missed cycles : 3).[0m ×2 + 34.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 35.01sWARNobjective_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 + 35.01sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453400 ms (missed cycles : 2). + 35.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.453400 ms (missed cycles : 2).[0m ×2 + 36.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564487 ms (missed cycles : 3). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564487 ms (missed cycles : 3).[0m ×2 + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.831264 ms (missed cycles : 5). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.831264 ms (missed cycles : 5).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375332 ms (missed cycles : 3). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.375332 ms (missed cycles : 3).[0m ×2 + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652191 ms (missed cycles : 3). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.652191 ms (missed cycles : 3).[0m ×2 + 39.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678553 ms (missed cycles : 3). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.678553 ms (missed cycles : 3).[0m ×2 + 41.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.414ms + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248344 ms (missed cycles : 2). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248344 ms (missed cycles : 2).[0m ×2 + 42.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622607 ms (missed cycles : 4). + 42.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.622607 ms (missed cycles : 4).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984667 ms (missed cycles : 2). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984667 ms (missed cycles : 2).[0m ×2 + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529771 ms (missed cycles : 5). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.529771 ms (missed cycles : 5).[0m ×2 + 44.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 45.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789440 ms (missed cycles : 2). + 45.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789440 ms (missed cycles : 2).[0m ×2 + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828522 ms (missed cycles : 2). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828522 ms (missed cycles : 2).[0m ×2 + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764271 ms (missed cycles : 2). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764271 ms (missed cycles : 2).[0m ×2 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787257 ms (missed cycles : 4). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787257 ms (missed cycles : 4).[0m ×2 + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935193 ms (missed cycles : 3). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935193 ms (missed cycles : 3).[0m ×2 + 50.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 50.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242640 ms (missed cycles : 2). + 50.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.242640 ms (missed cycles : 2).[0m ×2 + 51.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 51.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581719 ms (missed cycles : 4). + 51.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581719 ms (missed cycles : 4).[0m ×2 + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437647 ms (missed cycles : 2). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437647 ms (missed cycles : 2).[0m ×2 + 54.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503162 ms (missed cycles : 3). + 54.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.503162 ms (missed cycles : 3).[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265775 ms (missed cycles : 4). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.265775 ms (missed cycles : 4).[0m ×2 + 55.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 56.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651172 ms (missed cycles : 5). + 56.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.651172 ms (missed cycles : 5).[0m ×2 + 57.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2). + 57.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2).[0m ×2 + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5). + 58.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5).[0m ×2 + 59.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2). + 59.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2).[0m ×2 + 60.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4). + 60.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4).[0m ×2 + 60.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411109.12290359 seconds ×3 + 60.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.245ms + 61.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.692ms + 61.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411109.68175530 seconds. ×3 + 61.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 61.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5). + 61.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5).[0m ×2 + 61.51sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 61.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 62.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 62.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 62.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 62.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 63.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.8s | 189 warnings · 194 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.44sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.44sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196446 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.196446 ms (missed cycles : 3).[0m ×2 + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.266ms + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.587ms + 7.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.278ms + 7.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.128ms + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554218 ms (missed cycles : 2). + 7.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.554218 ms (missed cycles : 2).[0m ×2 + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.226ms + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.796ms + 8.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838371 ms (missed cycles : 4). + 8.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.838371 ms (missed cycles : 4).[0m ×2 + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.140ms + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.389ms + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.481ms + 9.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.080ms + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.683ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730620 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730620 ms (missed cycles : 2).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.384ms + 10.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.508ms + 10.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253828 ms (missed cycles : 4). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253828 ms (missed cycles : 4).[0m ×2 + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.878ms + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.730ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.016ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.766ms + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.919ms + 11.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.869ms + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237536 ms (missed cycles : 2). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237536 ms (missed cycles : 2).[0m ×2 + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.361ms + 12.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.090ms + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231383 ms (missed cycles : 3). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231383 ms (missed cycles : 3).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.253ms + 13.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.642ms + 13.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.901ms + 13.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.507ms ×2 + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.898ms + 13.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814838 ms (missed cycles : 3). + 13.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814838 ms (missed cycles : 3).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.051ms + 14.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.309ms + 14.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.512ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134925 ms (missed cycles : 6). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.134925 ms (missed cycles : 6).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.374ms + 15.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.905ms + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284697 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.284697 ms (missed cycles : 2).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.025ms + 16.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.845ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451856 ms (missed cycles : 3). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451856 ms (missed cycles : 3).[0m ×2 + 17.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.178ms + 17.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.923ms + 17.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.833ms + 18.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.019077 ms (missed cycles : 7). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.019077 ms (missed cycles : 7).[0m ×2 + 18.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.656ms + 18.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.233ms ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482397 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.482397 ms (missed cycles : 2).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.602ms + 19.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.703ms + 20.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.960ms + 20.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507931 ms (missed cycles : 3). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.507931 ms (missed cycles : 3).[0m ×2 + 20.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.895ms + 21.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.439ms + 21.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.395ms + 21.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271071 ms (missed cycles : 6). + 21.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.271071 ms (missed cycles : 6).[0m ×2 + 21.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.801ms + 21.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.975ms + 21.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.970ms + 21.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.749ms + 22.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.352ms + 22.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161955 ms (missed cycles : 3). + 22.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161955 ms (missed cycles : 3).[0m ×2 + 22.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.148ms + 23.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.286ms + 23.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278506 ms (missed cycles : 3). + 23.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.278506 ms (missed cycles : 3).[0m ×2 + 23.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.078ms + 24.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.217ms + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306666 ms (missed cycles : 6). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.306666 ms (missed cycles : 6).[0m ×2 + 24.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.343ms + 25.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.556ms + 25.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158263 ms (missed cycles : 3). + 25.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158263 ms (missed cycles : 3).[0m ×2 + 25.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.895ms + 26.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.633ms + 26.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887693 ms (missed cycles : 2). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887693 ms (missed cycles : 2).[0m ×2 + 26.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.636ms + 27.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.938ms + 27.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477211 ms (missed cycles : 3). + 27.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477211 ms (missed cycles : 3).[0m ×2 + 27.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.792ms + 28.03sINFOros2_control_nodeMuJoCo sim: 1.20% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.335ms + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336375 ms (missed cycles : 2). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.336375 ms (missed cycles : 2).[0m ×2 + 28.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.561ms + 29.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.456ms + 29.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.242552 ms (missed cycles : 6). + 29.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.242552 ms (missed cycles : 6).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.057ms + 30.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.953ms + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.764543 ms (missed cycles : 7). + 30.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.764543 ms (missed cycles : 7).[0m ×2 + 30.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.932ms + 31.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.244ms + 31.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.721ms + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.813463 ms (missed cycles : 7). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.813463 ms (missed cycles : 7).[0m ×2 + 32.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032193 ms (missed cycles : 2). + 32.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032193 ms (missed cycles : 2).[0m ×2 + 33.70sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 33.70sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149556 ms (missed cycles : 3). + 33.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149556 ms (missed cycles : 3).[0m ×2 + 34.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875054 ms (missed cycles : 3). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.875054 ms (missed cycles : 3).[0m ×2 + 35.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.704ms + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331196 ms (missed cycles : 3). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.331196 ms (missed cycles : 3).[0m ×2 + 36.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769462 ms (missed cycles : 3). + 36.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769462 ms (missed cycles : 3).[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422367 ms (missed cycles : 4). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.422367 ms (missed cycles : 4).[0m ×2 + 39.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855381 ms (missed cycles : 2). + 39.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855381 ms (missed cycles : 2).[0m ×2 + 39.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.369ms + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773636 ms (missed cycles : 2). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773636 ms (missed cycles : 2).[0m ×2 + 40.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.740ms + 41.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063296 ms (missed cycles : 3). + 41.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.063296 ms (missed cycles : 3).[0m ×2 + 42.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372484 ms (missed cycles : 3). + 42.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372484 ms (missed cycles : 3).[0m ×2 + 42.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.485ms + 42.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.915ms + 43.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046708 ms (missed cycles : 6). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.046708 ms (missed cycles : 6).[0m ×2 + 44.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.411ms + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266637 ms (missed cycles : 2). + 44.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266637 ms (missed cycles : 2).[0m ×2 + 44.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.410ms + 44.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.178ms + 45.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727154 ms (missed cycles : 3). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727154 ms (missed cycles : 3).[0m ×2 + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103746 ms (missed cycles : 5). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.103746 ms (missed cycles : 5).[0m ×2 + 46.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.762ms + 47.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673919 ms (missed cycles : 3). + 47.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673919 ms (missed cycles : 3).[0m ×2 + 48.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194745 ms (missed cycles : 6). + 48.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.194745 ms (missed cycles : 6).[0m ×2 + 49.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775031 ms (missed cycles : 3). + 49.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775031 ms (missed cycles : 3).[0m ×2 + 50.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591055 ms (missed cycles : 5). + 50.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.591055 ms (missed cycles : 5).[0m ×2 + 51.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.065ms + 51.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.322ms + 51.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152723 ms (missed cycles : 2). + 51.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152723 ms (missed cycles : 2).[0m ×2 + 51.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.403ms + 52.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350556 ms (missed cycles : 3). + 52.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.350556 ms (missed cycles : 3).[0m ×2 + 53.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869610 ms (missed cycles : 5). + 53.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.869610 ms (missed cycles : 5).[0m ×2 + 53.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.713ms + 53.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 54.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.989ms + 54.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.597ms + 54.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743314 ms (missed cycles : 6). + 54.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743314 ms (missed cycles : 6).[0m ×2 + 55.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044031 ms (missed cycles : 3). + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044031 ms (missed cycles : 3).[0m ×2 + 56.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 56.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.152ms + 56.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075424 ms (missed cycles : 4). + 56.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075424 ms (missed cycles : 4).[0m ×2 + 57.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851875 ms (missed cycles : 4). + 57.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851875 ms (missed cycles : 4).[0m ×2 + 57.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.260ms + 58.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.194ms + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628908 ms (missed cycles : 6). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628908 ms (missed cycles : 6).[0m ×2 + 59.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782411337.29132080 seconds ×3 + 59.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.173ms + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816094 ms (missed cycles : 3). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816094 ms (missed cycles : 3).[0m ×2 + 60.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.485ms + 60.09sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782411337.85353565 seconds. ×3 + 60.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.258ms + 60.43sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 60.46sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.285ms + 60.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551119 ms (missed cycles : 2). + 60.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551119 ms (missed cycles : 2).[0m ×2 + 61.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.247ms + 61.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096810 ms (missed cycles : 4). + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096810 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.0s | 180 warnings · 306 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.712ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.114ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.022ms + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.232ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms ×2 + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3).[0m ×2 + 1.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.167ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.93sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411145.56905389 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 4.52sWARNobjective_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 ×2 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.52sINFOobjective_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 + 4.52sINFOobjective_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 + 4.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411146.11994767 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.169ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.952ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.758ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.813ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms ×2 + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.17sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.17sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.715ms + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105843 ms (missed cycles : 6). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.105843 ms (missed cycles : 6).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.255ms + 7.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.795ms ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.192ms + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.971ms + 7.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.406ms + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.677619 ms (missed cycles : 7). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.677619 ms (missed cycles : 7).[0m ×2 + 8.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.491ms + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.668ms + 8.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.537ms + 9.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864726 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.864726 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.409ms + 9.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.668ms + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.593ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.012ms + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.598354 ms (missed cycles : 5). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.598354 ms (missed cycles : 5).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.966ms + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.808ms + 11.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645899 ms (missed cycles : 3). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645899 ms (missed cycles : 3).[0m ×2 + 11.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.525ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.991ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765758 ms (missed cycles : 5). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.765758 ms (missed cycles : 5).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.680ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.274ms + 12.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.848ms + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.528ms + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.511ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.695ms + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.418ms + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.668587 ms (missed cycles : 7). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.668587 ms (missed cycles : 7).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.976ms + 13.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.233ms + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.806ms + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.247ms + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001684 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001684 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.718ms + 14.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.451ms + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.534ms + 15.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.451ms + 15.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886072 ms (missed cycles : 4). + 15.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886072 ms (missed cycles : 4).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.267ms + 16.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.925ms + 16.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.195ms + 16.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166669 ms (missed cycles : 2). + 16.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.166669 ms (missed cycles : 2).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.121ms + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.954ms + 17.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.843ms + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713407 ms (missed cycles : 4). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.713407 ms (missed cycles : 4).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.619ms + 17.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.392ms + 17.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.929ms ×2 + 17.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.320ms + 18.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.390ms + 18.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.637ms + 18.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.242ms + 18.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.044846 ms (missed cycles : 6). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.044846 ms (missed cycles : 6).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.335ms + 18.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.698ms + 18.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.549ms + 18.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 19.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.791ms + 19.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 19.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.171ms + 19.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.176ms ×2 + 19.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.281ms + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.497805 ms (missed cycles : 5). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.497805 ms (missed cycles : 5).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.046ms + 19.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.330ms + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.193ms + 19.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.101ms + 20.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.600ms + 20.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.350ms + 20.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.864ms + 20.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 20.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.667ms + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884922 ms (missed cycles : 4). + 20.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.884922 ms (missed cycles : 4).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.036ms + 20.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.900ms + 20.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.082ms + 21.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.002ms + 21.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.299ms ×2 + 21.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.470ms + 21.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.758ms + 21.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 21.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.598ms + 21.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.899ms + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132494 ms (missed cycles : 2). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132494 ms (missed cycles : 2).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.925ms ×2 + 21.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.114ms + 21.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.449ms + 21.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.817ms + 22.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.730ms + 22.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 22.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.203ms ×2 + 22.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.102ms + 22.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.396ms ×2 + 22.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.990ms + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796190 ms (missed cycles : 6). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.796190 ms (missed cycles : 6).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.848ms + 22.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.632ms + 22.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.984ms + 22.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.467ms + 23.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 23.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.042ms + 23.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 23.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.985ms + 23.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 23.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948706 ms (missed cycles : 3). + 23.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948706 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.670ms + 23.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.533ms + 23.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.702ms + 23.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.194ms + 24.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.971ms + 24.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.923ms + 24.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 24.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.219ms + 24.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.484ms + 24.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.741ms + 24.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.767ms + 24.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.867994 ms (missed cycles : 6). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.867994 ms (missed cycles : 6).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.145ms + 24.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.926ms + 24.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.522ms + 25.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.396ms + 25.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.928ms + 25.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.686ms + 25.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.286ms + 25.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.922ms + 25.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.946ms + 25.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.222ms + 25.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642799 ms (missed cycles : 3). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642799 ms (missed cycles : 3).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 25.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.302ms + 26.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.614ms + 26.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 26.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.958ms + 26.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 26.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.169ms + 26.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.343ms + 26.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.374ms + 26.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.153ms + 26.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650682 ms (missed cycles : 7). + 26.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.650682 ms (missed cycles : 7).[0m ×2 + 26.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 27.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 27.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.078ms + 27.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 27.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.726ms + 27.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.065ms + 27.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.177ms + 27.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.480ms + 27.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.097ms + 27.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 27.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078193 ms (missed cycles : 4). + 27.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078193 ms (missed cycles : 4).[0m ×2 + 27.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.999ms + 28.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms + 28.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.521ms + 28.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.141ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696187 ms (missed cycles : 3). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696187 ms (missed cycles : 3).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.625ms + 29.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.196ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299011 ms (missed cycles : 2). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299011 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.495ms + 30.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.792ms ×2 + 30.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 30.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.889ms ×2 + 31.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043712 ms (missed cycles : 2). + 31.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043712 ms (missed cycles : 2).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.955ms + 32.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.401ms + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110818 ms (missed cycles : 6). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.110818 ms (missed cycles : 6).[0m ×2 + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195802 ms (missed cycles : 2). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195802 ms (missed cycles : 2).[0m ×2 + 33.77sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091400 ms (missed cycles : 3). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.091400 ms (missed cycles : 3).[0m ×2 + 34.40sWARNobjective_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 + 34.40sINFOobjective_server_nodePlanning for 58 path waypoints. ×3 + 35.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.793ms + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282586 ms (missed cycles : 2). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.282586 ms (missed cycles : 2).[0m ×2 + 35.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.993ms + 35.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.633ms + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.731ms + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782862 ms (missed cycles : 4). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782862 ms (missed cycles : 4).[0m ×2 + 36.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.775ms + 37.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730394 ms (missed cycles : 4). + 37.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.730394 ms (missed cycles : 4).[0m ×2 + 37.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.389ms + 38.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 38.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131086 ms (missed cycles : 2). + 38.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.131086 ms (missed cycles : 2).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.290ms + 38.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 39.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.936ms + 39.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782173 ms (missed cycles : 2). + 39.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.782173 ms (missed cycles : 2).[0m ×2 + 39.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.019ms + 40.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.460ms + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509099 ms (missed cycles : 5). + 40.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.509099 ms (missed cycles : 5).[0m ×2 + 41.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127519 ms (missed cycles : 2). + 41.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127519 ms (missed cycles : 2).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.095412 ms (missed cycles : 5). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.095412 ms (missed cycles : 5).[0m ×2 + 43.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 43.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068855 ms (missed cycles : 4). + 43.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068855 ms (missed cycles : 4).[0m ×2 + 43.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.935ms + 44.20sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.950559 ms (missed cycles : 6). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.950559 ms (missed cycles : 6).[0m ×2 + 44.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.878ms + 44.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.930ms + 45.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.194ms + 45.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.967ms + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306594 ms (missed cycles : 2). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306594 ms (missed cycles : 2).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.638ms + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670030 ms (missed cycles : 4). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670030 ms (missed cycles : 4).[0m ×2 + 47.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.994ms + 47.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.993ms + 47.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.711ms + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658682 ms (missed cycles : 2). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.658682 ms (missed cycles : 2).[0m ×2 + 48.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.110ms + 48.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.011ms + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009231 ms (missed cycles : 2). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.009231 ms (missed cycles : 2).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.150ms + 49.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.075ms + 49.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.549ms + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918755 ms (missed cycles : 5). + 49.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.918755 ms (missed cycles : 5).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.553ms + 50.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.703ms + 50.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.849ms + 51.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211685 ms (missed cycles : 3). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211685 ms (missed cycles : 3).[0m ×2 + 52.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588570 ms (missed cycles : 3). + 52.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588570 ms (missed cycles : 3).[0m ×2 + 52.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 53.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.642ms + 53.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 53.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.581393 ms (missed cycles : 6). + 53.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.581393 ms (missed cycles : 6).[0m ×2 + 54.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328043 ms (missed cycles : 5). + 54.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328043 ms (missed cycles : 5).[0m ×2 + 54.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.644ms + 55.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034020 ms (missed cycles : 4). + 55.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034020 ms (missed cycles : 4).[0m ×2 + 55.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.629ms + 55.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.326ms + 55.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.398ms + 56.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910879 ms (missed cycles : 2). + 56.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910879 ms (missed cycles : 2).[0m ×2 + 57.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782411198.60009694 seconds ×3 + 57.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.778ms + 57.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341105 ms (missed cycles : 3). + 57.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341105 ms (missed cycles : 3).[0m ×2 + 57.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.068ms + 57.57sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782411199.15935349 seconds. ×3 + 57.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 57.93sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 58.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 58.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774974 ms (missed cycles : 4). + 58.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774974 ms (missed cycles : 4).[0m ×2 + 58.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.220ms + 58.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.847ms + 59.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.222ms + 59.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.144ms + 59.20sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915722 ms (missed cycles : 2). + 59.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915722 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 165 warnings · 204 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 0.39sINFOros2-17process has finished cleanly [pid 9317] ×2 + 0.39sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.65sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.65sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.65sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.65sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.65sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.65sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.68sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.68sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.69sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.69sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.96sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.96sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 1.32sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.66sINFOros2-16process has finished cleanly [pid 9316] ×2 + 1.93sWARNobjective_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 + 1.93sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.93sINFOobjective_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 + 1.93sINFOobjective_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 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.93sINFOmove_groupClearing octomap...[0m ×2 + 1.93sINFOmove_groupOctomap cleared.[0m ×2 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 3.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 3.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.55sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 5.49sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.49sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.76sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.76sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179590 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179590 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668515 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668515 ms (missed cycles : 3).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897070 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.897070 ms (missed cycles : 2).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915434 ms (missed cycles : 5). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.915434 ms (missed cycles : 5).[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179115 ms (missed cycles : 3). + 10.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179115 ms (missed cycles : 3).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406416 ms (missed cycles : 3). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406416 ms (missed cycles : 3).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083356 ms (missed cycles : 4). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083356 ms (missed cycles : 4).[0m ×2 + 13.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144158 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144158 ms (missed cycles : 2).[0m ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023973 ms (missed cycles : 3). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023973 ms (missed cycles : 3).[0m ×2 + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580365 ms (missed cycles : 7). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.580365 ms (missed cycles : 7).[0m ×2 + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401990 ms (missed cycles : 4). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.401990 ms (missed cycles : 4).[0m ×2 + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746162 ms (missed cycles : 4). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.746162 ms (missed cycles : 4).[0m ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878627 ms (missed cycles : 2). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878627 ms (missed cycles : 2).[0m ×2 + 20.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005012 ms (missed cycles : 4). + 20.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.005012 ms (missed cycles : 4).[0m ×2 + 20.55sINFOamclParticle filter update iteration stats: 1883 particles 723 points - 2.223ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430927 ms (missed cycles : 5). + 21.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430927 ms (missed cycles : 5).[0m ×2 + 22.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076261 ms (missed cycles : 6). + 22.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.076261 ms (missed cycles : 6).[0m ×2 + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046805 ms (missed cycles : 3). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.046805 ms (missed cycles : 3).[0m ×2 + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267761 ms (missed cycles : 2). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267761 ms (missed cycles : 2).[0m ×2 + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172913 ms (missed cycles : 4). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.172913 ms (missed cycles : 4).[0m ×2 + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156523 ms (missed cycles : 3). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.156523 ms (missed cycles : 3).[0m ×2 + 27.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731995 ms (missed cycles : 4). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731995 ms (missed cycles : 4).[0m ×2 + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.816552 ms (missed cycles : 8). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.816552 ms (missed cycles : 8).[0m ×2 + 29.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842451 ms (missed cycles : 3). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842451 ms (missed cycles : 3).[0m ×2 + 30.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795545 ms (missed cycles : 2). + 30.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795545 ms (missed cycles : 2).[0m ×2 + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211483 ms (missed cycles : 2). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.211483 ms (missed cycles : 2).[0m ×2 + 32.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115403 ms (missed cycles : 2). + 32.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115403 ms (missed cycles : 2).[0m ×2 + 33.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020347 ms (missed cycles : 5). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.020347 ms (missed cycles : 5).[0m ×2 + 34.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509666 ms (missed cycles : 3). + 34.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.509666 ms (missed cycles : 3).[0m ×2 + 35.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009354 ms (missed cycles : 2). + 35.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009354 ms (missed cycles : 2).[0m ×2 + 36.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927473 ms (missed cycles : 3). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.927473 ms (missed cycles : 3).[0m ×2 + 37.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165903 ms (missed cycles : 3). + 37.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165903 ms (missed cycles : 3).[0m ×2 + 38.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886575 ms (missed cycles : 4). + 38.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.886575 ms (missed cycles : 4).[0m ×2 + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112983 ms (missed cycles : 3). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112983 ms (missed cycles : 3).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639747 ms (missed cycles : 2). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.639747 ms (missed cycles : 2).[0m ×2 + 41.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430321 ms (missed cycles : 5). + 41.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.430321 ms (missed cycles : 5).[0m ×2 + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566525 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566525 ms (missed cycles : 2).[0m ×2 + 44.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842636 ms (missed cycles : 2). + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842636 ms (missed cycles : 2).[0m ×2 + 45.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2). + 45.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2).[0m ×2 + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2).[0m ×2 + 47.39sINFOjoint_trajectory_controllerGoal reached, success! + 47.39sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411048.65031290 seconds ×3 + 47.64sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.929ms + 47.98sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411049.21721673 seconds. ×3 + 48.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3). + 48.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3).[0m ×2 + 48.92sINFOobjective_server_nodeFound path in 0 iterations (1.9501e-05 s). ×2 + 48.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2). + 49.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2).[0m ×2 + 49.83sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.593ms | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.8s | 114 warnings · 163 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090466 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090466 ms (missed cycles : 4).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.095ms + 1.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.678ms + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.622ms + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101384 ms (missed cycles : 3). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101384 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.924ms + 2.73sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.73sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.74sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782411113.72191954 seconds ×3 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.433ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756706 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756706 ms (missed cycles : 2).[0m ×2 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512246 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512246 ms (missed cycles : 3).[0m ×2 + 4.29sWARNobjective_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 ×2 + 4.30sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.30sINFOobjective_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 + 4.30sINFOobjective_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 + 4.30sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782411115.27889395 seconds. ×3 + 4.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.32sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.021ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.175ms + 4.65sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925889 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925889 ms (missed cycles : 4).[0m ×2 + 6.14sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.18sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.18sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.18sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.18sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041400 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041400 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097005 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097005 ms (missed cycles : 2).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.798ms + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255243 ms (missed cycles : 3). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.255243 ms (missed cycles : 3).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.237ms + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 9.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.975ms + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.647240 ms (missed cycles : 7). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.647240 ms (missed cycles : 7).[0m ×2 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.658ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.133ms + 10.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 10.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183310 ms (missed cycles : 3). + 10.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.183310 ms (missed cycles : 3).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.506ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.973ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.802ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773975 ms (missed cycles : 2). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773975 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.041ms + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.093ms + 12.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263112 ms (missed cycles : 3). + 12.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263112 ms (missed cycles : 3).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.374ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600252 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600252 ms (missed cycles : 3).[0m ×2 + 13.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.027ms + 14.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.612ms ×2 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.232ms + 14.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055204 ms (missed cycles : 2). + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.055204 ms (missed cycles : 2).[0m ×2 + 14.81sINFOros2_control_nodeMuJoCo sim: 0.90% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.950ms + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.910ms + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.532ms + 15.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.877ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529935 ms (missed cycles : 3). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529935 ms (missed cycles : 3).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 16.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.505ms + 16.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.566ms + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819431 ms (missed cycles : 4). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.819431 ms (missed cycles : 4).[0m ×2 + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.162ms + 17.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.304ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985451 ms (missed cycles : 2). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.985451 ms (missed cycles : 2).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 18.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.006ms + 18.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.607ms + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801799 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801799 ms (missed cycles : 2).[0m ×2 + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.981ms + 19.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.924ms + 19.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.929ms + 19.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.251ms + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781499 ms (missed cycles : 4). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.781499 ms (missed cycles : 4).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.987ms + 20.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498668 ms (missed cycles : 2). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498668 ms (missed cycles : 2).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.128ms + 21.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 21.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.755ms + 21.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.051ms + 21.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919783 ms (missed cycles : 6). + 21.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.919783 ms (missed cycles : 6).[0m ×2 + 22.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.686ms + 22.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.665ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516092 ms (missed cycles : 4). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516092 ms (missed cycles : 4).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.445ms + 23.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.163ms + 23.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 23.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.838ms + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737852 ms (missed cycles : 3). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737852 ms (missed cycles : 3).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.213ms + 24.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.092ms + 24.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.246ms + 24.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.934ms + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752787 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752787 ms (missed cycles : 2).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.932ms + 25.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.748ms + 26.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927583 ms (missed cycles : 2). + 26.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927583 ms (missed cycles : 2).[0m ×2 + 26.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.089ms + 26.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.978ms + 27.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.775ms + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352936 ms (missed cycles : 5). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.352936 ms (missed cycles : 5).[0m ×2 + 27.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.242ms + 27.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.870ms + 27.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874431 ms (missed cycles : 3). + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.874431 ms (missed cycles : 3).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 15.916ms + 28.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.403ms + 29.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.699ms + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740115 ms (missed cycles : 2). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.740115 ms (missed cycles : 2).[0m ×2 + 29.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.577ms + 30.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.828ms + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664800 ms (missed cycles : 3). + 30.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664800 ms (missed cycles : 3).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.712ms + 31.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.114ms + 31.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2). + 31.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 32.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.022ms + 32.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.232ms + 32.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 32.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3). + 32.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 32.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5). + 33.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 33.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.167ms + 33.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4).[0m ×2 + 34.59sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411145.56905389 seconds ×3 + 34.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 35.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 35.14sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411146.11994767 seconds. ×3 + 35.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.169ms + 35.48sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 35.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5). + 35.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5).[0m ×2 + 35.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.952ms + 35.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.758ms + 36.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.813ms + 36.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 36.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3). + 36.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3).[0m ×2 + 36.74sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 37.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.715ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.8s | 66 warnings · 161 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044031 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044031 ms (missed cycles : 3).[0m ×2 + 0.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.255ms + 0.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.152ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075424 ms (missed cycles : 4). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.075424 ms (missed cycles : 4).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851875 ms (missed cycles : 4). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.851875 ms (missed cycles : 4).[0m ×2 + 2.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.260ms + 2.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.194ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628908 ms (missed cycles : 6). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.628908 ms (missed cycles : 6).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.90sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782411337.29132080 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.173ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816094 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816094 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.485ms + 4.48sWARNobjective_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 + 4.48sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.48sINFOobjective_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 + 4.48sINFOobjective_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 + 4.49sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782411337.85353565 seconds. ×3 + 4.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.258ms + 4.84sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.87sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.87sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.87sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.87sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.285ms + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551119 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.551119 ms (missed cycles : 2).[0m ×2 + 6.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.247ms + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096810 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.096810 ms (missed cycles : 4).[0m ×2 + 6.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.228ms + 7.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.054ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023686 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.023686 ms (missed cycles : 3).[0m ×2 + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592520 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.592520 ms (missed cycles : 5).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.182ms + 8.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.089ms + 9.05sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 9.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.11sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 9.22sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.26sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 9.40sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524547 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524547 ms (missed cycles : 3).[0m ×2 + 9.60sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 69 iterations (0.0504079 s). ×2 + 9.89sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456884 ms (missed cycles : 2). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.456884 ms (missed cycles : 2).[0m ×2 + 10.67sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.71sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.010ms + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959796 ms (missed cycles : 6). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.959796 ms (missed cycles : 6).[0m ×2 + 12.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.132ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884629 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884629 ms (missed cycles : 2).[0m ×2 + 13.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.532ms + 13.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.016ms + 13.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.761ms + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751104 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751104 ms (missed cycles : 3).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.532ms + 14.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.326ms + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2).[0m ×2 + 15.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 15.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.028ms + 15.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.689ms + 15.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.354ms + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2).[0m ×2 + 16.72sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411350.07955384 seconds ×3 + 16.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.415ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3).[0m ×2 + 17.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.169ms + 17.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.404ms + 17.32sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411350.68042326 seconds. ×3 + 17.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.32sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.32sINFOmove_groupClearing octomap...[0m ×2 + 17.32sINFOmove_groupOctomap cleared.[0m ×2 + 17.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.059ms + 17.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.977ms + 17.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.988ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4).[0m ×2 + 17.96sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411351.32057238 seconds ×3 + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.172ms + 18.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.141ms + 18.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.903ms + 18.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411351.87072015 seconds. ×3 + 18.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.046ms + 18.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.643ms + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2).[0m ×2 + 19.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.302ms + 19.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 19.45sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411352.81086016 seconds ×3 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 71 errors · 39 warnings · 410 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.532ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.326ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 1.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.028ms + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.689ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.354ms + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2).[0m ×2 + 2.55sINFOjoint_trajectory_controllerGoal reached, success! + 2.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411350.07955384 seconds ×3 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.415ms + 2.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.169ms + 3.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.404ms + 3.14sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.14sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.14sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.19sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411350.68042326 seconds. ×3 + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.20sINFOmove_groupClearing octomap...[0m ×2 + 3.20sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.059ms + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.977ms + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.988ms + 3.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4).[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411351.32057238 seconds ×3 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.172ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.141ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.903ms + 4.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411351.87072015 seconds. ×3 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.046ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.643ms + 4.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2). + 4.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.302ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411352.81086016 seconds ×3 + 5.56sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.974ms + 5.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.051ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.479ms + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716685 ms (missed cycles : 2). + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.955ms + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716685 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.625ms + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.078ms + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313531 ms (missed cycles : 4). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313531 ms (missed cycles : 4).[0m ×2 + 7.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.775ms + 7.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.798ms + 8.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211676 ms (missed cycles : 2). + 8.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211676 ms (missed cycles : 2).[0m ×2 + 9.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140663 ms (missed cycles : 2). + 9.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140663 ms (missed cycles : 2).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.257ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.684ms + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603634 ms (missed cycles : 3). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.603634 ms (missed cycles : 3).[0m ×2 + 11.15sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.19sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 11.21sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328358 ms (missed cycles : 3). + 11.23sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 11.27sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.27sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.28sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 11.30sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 11.32sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 11.34sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.36sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.38sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.40sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.42sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.44sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.44sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.46sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.48sINFOweb_video_server-30process has finished cleanly [pid 9397] ×2 + 11.49sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.49sINFOcontroller_managerShutdown request received.... + 11.49sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.49sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.49sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.49sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.49sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.49sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.49sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.49sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.49sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.49sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.49sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.49sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.49sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.50sINFOcontroller_managerShutting down the controller manager. + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328358 ms (missed cycles : 3).[0m ×2 + 11.50sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9396] ×2 + 11.51sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.53sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.53sERRORmove_group-19process has died [pid 9319, 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_wtpo30b9 --params-file /tmp/launch_params_8aviz4hz --params-file /tmp/launch_params_lwjfwbqk --params-file /tmp/launch_params_uj5tkf5a --params-file /tmp/launch_params_ucb4boxn --params-file /tmp/launch_params_i8ak_8tm --params-file /tmp/launch_params_3ny93l_y --params-file /tmp/launch_params_mhr6vtsm --params-file /tmp/launch_params_pmkx83v6']. ×2 + 11.55sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.56sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.56sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.58sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.59sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.59sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.59sINFOcontroller_serverCleaning up + 11.59sINFOlocal_costmap.local_costmapCleaning up + 11.59sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.60sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.60sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.60sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.60sINFOui_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 + 11.60sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.60sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.60sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.60sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.60sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.60sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.60sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.60sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.60sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.60sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.60sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.60sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.60sERRORmove_groupStack trace (most recent call last) in thread 9891: ×2 + 11.60sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.60sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f745933ea63, in __clone ×2 + 11.60sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f74592b1aa3, in ×2 + 11.60sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7459543db3, in ×2 + 11.60sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7459b981c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.60sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f74598b64d0, in rclcpp::Rate::sleep() ×2 + 11.60sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7459809a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.60sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f74597cea71, in ×2 + 11.60sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7459512390, in __cxa_throw ×2 + 11.60sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f74594fca54, in std::terminate() ×2 + 11.60sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f74595120d9, in ×2 + 11.60sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f74594fcff4, in ×2 + 11.60sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f745923d8fe, in abort ×2 + 11.60sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f745925a27d, in raise ×2 + 11.61sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f74592b3b2c, in pthread_kill ×2 + 11.61sERRORmove_groupAborted (Signal sent by tkill() 9319 0) ×2 + 11.61sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.61sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.61sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.61sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.61sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.61sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.61sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.61sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.61sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.61sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.61sINFOobjective_server_node[2026-06-25 18:15:58.989] [moveit_pro_license] [info] ×2 + 11.61sINFOobjective_server_node************************************************* ×4 + 11.61sINFOobjective_server_node* MoveIt Pro License ×2 + 11.61sINFOobjective_server_node* Application has successfully terminated ×2 + 11.61sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.61sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.61sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.61sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.61sINFOodom_qos_relay.pymain() ×2 + 11.61sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.61sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.61sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.61sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.61sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.61sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.61sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.61sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.61sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.61sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.61sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.62sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.62sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559d0cfe46a4, in _start ×2 + 11.62sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df752928a, in __libc_start_main ×2 + 11.62sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df75291d0, in ×2 + 11.62sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df7546bbd, in exit ×2 + 11.62sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7df7546a75, in ×2 + 11.62sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7df7a184a2, in spdlog::details::registry::~registry() ×2 + 11.62sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7df7a2369d, 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 + 11.62sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f7df7a1d965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.62sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559d0cfeb315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.62sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559d0cfea5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.62sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559d0cfe6b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.62sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x559d0cfe4d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.62sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7df80bf454, in rclcpp::Node::~Node() ×2 + 11.62sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7df807a515, in ×2 + 11.62sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7df80bdd20, in ×2 + 11.62sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7df80bdc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.62sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7df807a5d9, in ×2 + 11.62sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7df807f161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.62sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f7da3fef120]) ×2 + 11.62sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 11.62sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.63sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.63sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.63sINFOsmoother_serverCleaning up + 11.65sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.65sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.65sINFOmap_serverDeactivating + 11.65sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.65sERRORobjective_server_node_main-24process has died [pid 9391, 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_e4x9ivdh --params-file /tmp/launch_params_acwvp_l7 --params-file /tmp/launch_params__nmkf4h6 --params-file /tmp/launch_params_w_78hczk --params-file /tmp/launch_params_n7p65ee3 --params-file /tmp/launch_params_kmdjpidy --params-file /tmp/launch_params_bhf6yw55 --params-file /tmp/launch_params_e2_qxd9v --params-file /tmp/launch_params_sb03co73']. ×2 + 11.65sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.66sINFOmap_serverCleaning up + 11.66sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.66sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.66sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.66sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.66sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.66sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.68sERRORamclThe bond connection to the lifecycle manager has been broken + 11.69sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.69sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.69sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.69sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.69sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.69sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.69sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.71sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.71sINFOros2_control_nodepublish_async_failures_ 1[0m ×4 + 12.42sERRORui_teleop_bridge-27process has died [pid 9394, 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_pxcmmz6h']. ×2 + 12.44sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9390] ×2 + 12.44sINFOexecute_objective_bridge-26process has finished cleanly [pid 9393] ×2 + 12.45sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9322] ×2 + 12.51sINFOparameter_manager_node-20process has finished cleanly [pid 9320] ×2 + 12.53sINFOwaypoint_manager_node-21process has finished cleanly [pid 9321] ×2 + 12.55sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9240] ×2 + 12.57sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9239] ×2 + 12.60sINFOstatic_transform_publisher-3process has finished cleanly [pid 9237] ×2 + 12.62sINFOstatic_transform_publisher-2process has finished cleanly [pid 9236] ×2 + 12.65sINFOcomponent_container_mt-25process has finished cleanly [pid 9392] ×2 + 12.65sERRORodom_qos_relay.py-4process has died [pid 9238, 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 + 13.21sERRORcomponent_container_isolated-1process has died [pid 9235, 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_pddgyqmt --params-file /tmp/launch_params_knuzylvj -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.25sINFOweb_bridge-28process has finished cleanly [pid 9395] ×2 + 14.25sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 14.32sINFOros2_control_node-7process has finished cleanly [pid 9241] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 57 warnings · 117 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.642ms + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.581393 ms (missed cycles : 6). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.581393 ms (missed cycles : 6).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328043 ms (missed cycles : 5). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.328043 ms (missed cycles : 5).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.644ms + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034020 ms (missed cycles : 4). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034020 ms (missed cycles : 4).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.629ms + 2.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.326ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.889ms + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.398ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910879 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910879 ms (missed cycles : 2).[0m ×2 + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782411198.60009694 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.778ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341105 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.341105 ms (missed cycles : 3).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.068ms + 4.56sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.56sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.56sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.57sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782411199.15935349 seconds. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 4.93sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.176ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.244ms + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774974 ms (missed cycles : 4). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.774974 ms (missed cycles : 4).[0m ×2 + 5.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.220ms + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.847ms + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.222ms + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.144ms + 6.20sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.25sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.25sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.25sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.25sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915722 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915722 ms (missed cycles : 2).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms + 7.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.173ms + 7.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.792ms + 7.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856629 ms (missed cycles : 2). + 7.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856629 ms (missed cycles : 2).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.655ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276688 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.276688 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.459ms + 9.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.482ms + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.597ms + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556579 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556579 ms (missed cycles : 3).[0m ×2 + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.390ms + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.511ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.272ms + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565423 ms (missed cycles : 6). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.565423 ms (missed cycles : 6).[0m ×2 + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms ×2 + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.034ms + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.803ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.144ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.180ms + 11.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566686 ms (missed cycles : 2). + 11.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566686 ms (missed cycles : 2).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 17.532ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.566ms + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.023ms + 12.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903219 ms (missed cycles : 2). + 12.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.903219 ms (missed cycles : 2).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.493ms + 13.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.110ms + 13.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.287995 ms (missed cycles : 10). + 13.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 16.287995 ms (missed cycles : 10).[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.293ms + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 14.93sINFOjoint_trajectory_controllerGot request to cancel goal + 14.93sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.93sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.93sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782411209.53853440 seconds ×3 + 14.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.464ms + 14.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287582 ms (missed cycles : 2). + 14.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287582 ms (missed cycles : 2).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.944ms + 15.50sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782411210.08678579 seconds. ×3 + 15.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.575ms + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.544ms + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756037 ms (missed cycles : 3). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756037 ms (missed cycles : 3).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.614ms + 16.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.416ms + 16.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.869ms + 16.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.952ms + 17.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.679ms + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860976 ms (missed cycles : 4). + 17.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.860976 ms (missed cycles : 4).[0m ×2 + 17.19sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.719ms + 17.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.304ms + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.829ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.6s | 42 warnings · 82 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.32sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411109.12290359 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.245ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.692ms + 3.87sWARNobjective_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 + 3.87sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.87sINFOobjective_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 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411109.68175530 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.26sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090466 ms (missed cycles : 4). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090466 ms (missed cycles : 4).[0m ×2 + 6.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.095ms + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.678ms + 6.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.622ms + 6.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101384 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101384 ms (missed cycles : 3).[0m ×2 + 7.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.924ms + 7.92sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782411113.72191954 seconds ×3 + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.433ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756706 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756706 ms (missed cycles : 2).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512246 ms (missed cycles : 3). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512246 ms (missed cycles : 3).[0m ×2 + 9.48sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782411115.27889395 seconds. ×3 + 9.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.021ms + 9.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.175ms + 9.83sINFOobjective_server_nodeFound path in 0 iterations (9.9e-07 s). ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925889 ms (missed cycles : 4). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.925889 ms (missed cycles : 4).[0m ×2 + 11.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041400 ms (missed cycles : 2). + 11.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.041400 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 36 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842636 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842636 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.33sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411048.65031290 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.929ms + 3.92sWARNobjective_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 + 3.92sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411049.21721673 seconds. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (1.9501e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.89sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.89sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.89sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.593ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963952 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963952 ms (missed cycles : 3).[0m ×2 + 6.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411052.28736258 seconds ×3 + 7.18sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.329ms + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981154 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981154 ms (missed cycles : 4).[0m ×2 + 7.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411052.84273887 seconds. ×3 + 7.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 7.90sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392399 ms (missed cycles : 4). + 8.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392399 ms (missed cycles : 4).[0m ×2 + 9.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145390 ms (missed cycles : 2). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145390 ms (missed cycles : 2).[0m ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 30 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884629 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.532ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.016ms + 0.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.761ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751104 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751104 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.532ms + 1.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.326ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.028ms + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.689ms + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.354ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411350.07955384 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.415ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.169ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.404ms + 4.52sWARNobjective_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 ×2 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.52sINFOobjective_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 + 4.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411350.68042326 seconds. ×3 + 4.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.57sINFOmove_groupClearing octomap...[0m ×2 + 4.57sINFOmove_groupOctomap cleared.[0m ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.059ms + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.977ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.988ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411351.32057238 seconds ×3 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.172ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.141ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.903ms + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411351.87072015 seconds. ×3 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.046ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.643ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2).[0m ×2 + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.302ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 6.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411352.81086016 seconds ×3 + 6.94sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.974ms + 7.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.051ms + 7.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.479ms + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716685 ms (missed cycles : 2). + 7.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.955ms + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716685 ms (missed cycles : 2).[0m ×2 + 7.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.625ms + 7.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.078ms | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 38 warnings · 277 info |
+ 0.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.00sINFOros2Loaded velocity_force_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 0.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.77sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.81sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.81sINFOros2Loaded platform_velocity_controller ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.82sINFOplatform_velocity_controllerconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.83sINFOros2Configured and activated platform_velocity_controller ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.18sINFOros2-11process has finished cleanly [pid 9311] ×2 + 1.29sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.29sINFOros2Loaded joint_trajectory_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9314] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 2.45sINFOros2-17process has finished cleanly [pid 9317] ×2 + 2.45sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.75sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 3.37sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.72sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.99sINFOobjective_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 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 3.99sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411109.12290359 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.245ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.692ms + 3.87sWARNobjective_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 + 3.87sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.87sINFOobjective_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 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411109.68175530 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411109.12290359 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.245ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.692ms + 3.87sWARNobjective_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 + 3.87sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.87sINFOobjective_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 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411109.68175530 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 38 warnings · 277 info |
+ 0.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.00sINFOros2Loaded velocity_force_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 0.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.77sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.81sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.81sINFOros2Loaded platform_velocity_controller ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.82sINFOplatform_velocity_controllerconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.83sINFOros2Configured and activated platform_velocity_controller ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.18sINFOros2-11process has finished cleanly [pid 9311] ×2 + 1.29sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.29sINFOros2Loaded joint_trajectory_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9314] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 2.45sINFOros2-17process has finished cleanly [pid 9317] ×2 + 2.45sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.75sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 3.37sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.72sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.99sINFOobjective_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 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 3.99sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 38 warnings · 277 info |
+ 0.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.00sINFOros2Loaded velocity_force_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 0.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.77sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.81sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.81sINFOros2Loaded platform_velocity_controller ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.82sINFOplatform_velocity_controllerconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.83sINFOros2Configured and activated platform_velocity_controller ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.18sINFOros2-11process has finished cleanly [pid 9311] ×2 + 1.29sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.29sINFOros2Loaded joint_trajectory_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9314] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 2.45sINFOros2-17process has finished cleanly [pid 9317] ×2 + 2.45sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.75sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 3.37sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.72sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.99sINFOobjective_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 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 3.99sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 27 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884629 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884629 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.532ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.016ms + 0.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.761ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751104 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751104 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.532ms + 1.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.326ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.068482 ms (missed cycles : 2).[0m ×2 + 2.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 2.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.028ms + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.689ms + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.354ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327292 ms (missed cycles : 2).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411350.07955384 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.415ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.750237 ms (missed cycles : 3).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.169ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.404ms + 4.52sWARNobjective_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 ×2 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.52sINFOobjective_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 + 4.52sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411350.68042326 seconds. ×3 + 4.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.57sINFOmove_groupClearing octomap...[0m ×2 + 4.57sINFOmove_groupOctomap cleared.[0m ×2 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.059ms + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.977ms + 4.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.988ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.027803 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411351.32057238 seconds ×3 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.172ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.141ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.903ms + 5.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411351.87072015 seconds. ×3 + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.046ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.643ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.679590 ms (missed cycles : 2).[0m ×2 + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.302ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.718ms + 6.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411352.81086016 seconds ×3 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[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 1.842636 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842636 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411048.65031290 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.929ms + 3.92sWARNobjective_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 + 3.92sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.92sINFOobjective_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 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411049.21721673 seconds. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (1.9501e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.593ms | ||||
| − 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 1.842636 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842636 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.304273 ms (missed cycles : 2).[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122511 ms (missed cycles : 2).[0m ×2 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2).[0m ×2 + 3.33sINFOjoint_trajectory_controllerGoal reached, success! + 3.33sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411048.65031290 seconds ×3 + 3.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.58sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.929ms + 3.92sWARNobjective_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 + 3.92sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.92sINFOobjective_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 + 3.92sINFOobjective_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 + 3.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411049.21721673 seconds. ×3 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3).[0m ×2 + 4.86sINFOobjective_server_nodeFound path in 0 iterations (1.9501e-05 s). ×2 + 4.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.89sINFOjoint_trajectory_controllerReceived new action goal + 4.89sINFOjoint_trajectory_controllerAccepted new action goal + 4.89sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.89sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2).[0m ×2 + 5.77sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.593ms | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 27 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813064 ms (missed cycles : 2).[0m ×2 + 0.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.14sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411048.65031290 seconds ×3 + 0.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.37sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 1.929ms + 0.70sWARNobjective_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 + 0.70sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.70sINFOobjective_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 + 0.70sINFOobjective_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 + 0.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411049.21721673 seconds. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087296 ms (missed cycles : 3).[0m ×2 + 1.65sINFOobjective_server_nodeFound path in 0 iterations (1.9501e-05 s). ×2 + 1.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110961 ms (missed cycles : 2).[0m ×2 + 2.56sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 1.593ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963952 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.963952 ms (missed cycles : 3).[0m ×2 + 3.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411052.28736258 seconds ×3 + 3.96sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.329ms + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981154 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.981154 ms (missed cycles : 4).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411052.84273887 seconds. ×3 + 4.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 4.69sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392399 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.392399 ms (missed cycles : 4).[0m ×2 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145390 ms (missed cycles : 2). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145390 ms (missed cycles : 2).[0m ×2 + 6.24sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411109.12290359 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.245ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.692ms + 3.87sWARNobjective_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 + 3.87sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.87sINFOobjective_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 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411109.68175530 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411109.12290359 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.245ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.692ms + 3.87sWARNobjective_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 + 3.87sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.87sINFOobjective_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 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411109.68175530 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254607 ms (missed cycles : 2).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.572372 ms (missed cycles : 5).[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927644 ms (missed cycles : 2).[0m ×2 + 2.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.454473 ms (missed cycles : 4).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.32sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.32sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411109.12290359 seconds ×3 + 3.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.245ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.692ms + 3.87sWARNobjective_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 + 3.87sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 3.87sINFOobjective_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 + 3.87sINFOobjective_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 + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411109.68175530 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.539726 ms (missed cycles : 5).[0m ×2 + 4.22sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.26sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.224ms + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.510ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.947975 ms (missed cycles : 4).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.060ms + 5.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.583ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 21 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.712ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.114ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.022ms + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.232ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3).[0m ×2 + 1.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.167ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411145.56905389 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 4.52sWARNobjective_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 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.52sINFOobjective_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 + 4.52sINFOobjective_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 + 4.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411146.11994767 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.169ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.952ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.758ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.813ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.715ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 21 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.712ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.114ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.022ms + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.232ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3).[0m ×2 + 1.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.167ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411145.56905389 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 4.52sWARNobjective_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 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.52sINFOobjective_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 + 4.52sINFOobjective_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 + 4.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411146.11994767 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.169ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.952ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.758ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.813ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.715ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 21 warnings · 54 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.712ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.114ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054054 ms (missed cycles : 2).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.022ms + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.232ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.770ms + 1.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3). + 1.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623869 ms (missed cycles : 3).[0m ×2 + 1.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.965ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.764245 ms (missed cycles : 5).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 3.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.167ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.069765 ms (missed cycles : 4).[0m ×2 + 3.93sINFOjoint_trajectory_controllerGoal reached, success! + 3.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.98sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411145.56905389 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.565ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 4.52sWARNobjective_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 + 4.52sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.52sINFOobjective_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 + 4.52sINFOobjective_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 + 4.53sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411146.11994767 seconds. ×3 + 4.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.56sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.169ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.123869 ms (missed cycles : 5).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.952ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.773ms + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.758ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.813ms + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 5.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149318 ms (missed cycles : 3).[0m ×2 + 6.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.17sINFOjoint_trajectory_controllerReceived new action goal + 6.17sINFOjoint_trajectory_controllerAccepted new action goal + 6.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.715ms | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_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 · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.206ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 0.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.455ms + 0.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.576258 ms (missed cycles : 4).[0m ×2 + 1.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.913ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4). + 1.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.698435 ms (missed cycles : 4).[0m ×2 + 2.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.239ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.846ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887349 ms (missed cycles : 2).[0m ×2 + 2.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.665ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152714 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.71sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411281.51704955 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.595ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.761ms + 4.31sWARNobjective_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 + 4.31sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.31sINFOobjective_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 + 4.31sINFOobjective_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 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 4.32sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411282.08117747 seconds. ×3 + 4.38sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133345 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.050ms + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.048ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.086ms + 5.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.355ms + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.984527 ms (missed cycles : 4).[0m ×2 + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.555ms + 6.21sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.080ms + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.44sINFOjoint_trajectory_controllerAccepted new action goal + 6.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 26.6s | 15 errors · 312 warnings · 1107 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/2026-06-25-18-09-36-606681-05198a79a733-9186 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.09sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 13.09sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 13.11sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.16sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.18sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.21sINFOcontroller_serverCreating controller server + 13.21sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.22sINFOcontroller_managerupdate rate is 600 Hz + 13.22sINFOcontroller_managerOverruns handling is : enabled + 13.22sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.22sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 13.23sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.23sINFOlocal_costmap.local_costmapCreating Costmap + 13.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.25sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.25sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674431 ms (missed cycles : 5). + 13.27sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 13.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.29sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.29sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.31sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.33sINFOsmoother_serverCreating smoother server + 13.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.36sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.36sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.38sINFOros2_control_node-7process started with pid [9241] ×2 + 13.38sINFOmove_group-19process started with pid [9319] ×2 + 13.38sINFOparameter_manager_node-20process started with pid [9320] ×2 + 13.38sINFOwaypoint_manager_node-21process started with pid [9321] ×2 + 13.38sINFOmove_joint_resampler_node-22process started with pid [9322] ×2 + 13.38sINFOmove_end_effector_resampler_node-23process started with pid [9390] ×2 + 13.38sINFOobjective_server_node_main-24process started with pid [9391] ×2 + 13.38sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.38sINFOmap_serverCreating + 13.38sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.39sINFOcomponent_container_mt-25process started with pid [9392] ×2 + 13.40sINFOexecute_objective_bridge-26process started with pid [9393] ×2 + 13.40sINFOui_teleop_bridge-27process started with pid [9394] ×2 + 13.40sINFOweb_bridge-28process started with pid [9395] ×2 + 13.40sINFOtf2_web_republisher_node-29process started with pid [9396] ×2 + 13.40sINFOweb_video_server-30process started with pid [9397] ×2 + 13.40sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.41sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.41sINFOcomponent_container_isolated-1process started with pid [9235] ×2 + 13.41sINFOstatic_transform_publisher-2process started with pid [9236] ×2 + 13.41sINFOstatic_transform_publisher-3process started with pid [9237] ×2 + 13.41sINFOodom_qos_relay.py-4process started with pid [9238] ×2 + 13.41sINFOscan_to_scan_filter_chain-5process started with pid [9239] ×2 + 13.41sINFOscan_to_scan_filter_chain-6process started with pid [9240] ×2 + 13.41sINFOros2-8process started with pid [9242] ×2 + 13.41sINFOros2-9process started with pid [9309] ×2 + 13.41sINFOros2-10process started with pid [9310] ×2 + 13.41sINFOros2-11process started with pid [9311] ×2 + 13.41sINFOros2-12process started with pid [9312] ×2 + 13.41sINFOros2-13process started with pid [9313] ×2 + 13.41sINFOros2-14process started with pid [9314] ×2 + 13.41sINFOros2-15process started with pid [9315] ×2 + 13.41sINFOros2-16process started with pid [9316] ×2 + 13.41sINFOros2-17process started with pid [9317] ×2 + 13.41sINFOros2-18process started with pid [9318] ×2 + 13.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.42sINFOplanner_serverCreating + 13.44sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.44sINFOglobal_costmap.global_costmapCreating Costmap + 13.46sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 13.46sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.46sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.46sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.46sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 13.46sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.48sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 13.48sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.48sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.48sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.48sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.48sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.48sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.674431 ms (missed cycles : 5).[0m ×2 + 13.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.50sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.50sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.51sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.54sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.54sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.54sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.56sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.57sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.58sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.62sINFOlifecycle_manager_localizationCreating + 13.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 13.65sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.65sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 13.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 13.66sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.66sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.66sINFOmap_serverConfiguring + 13.66sINFOcontroller_managerReceived robot description from topic. + 13.66sINFOrobot_state_publisherRobot initialized + 13.66sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.66sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.66sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.66sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.70sINFObt_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. + 13.71sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.72sINFObt_navigatorCreating + 13.73sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.73sINFOamclConfiguring + 13.73sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.73sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.73sINFOmap_serverActivating + 13.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 13.74sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.74sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 13.74sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 13.77sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.77sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.78sINFOwaypoint_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. + 13.79sINFOwaypoint_followerCreating + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 13.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 13.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 13.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.84sINFOvelocity_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. + 13.84sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 13.85sINFOlifecycle_manager_localizationServer map_server connected with bond. + 13.85sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 13.85sINFOamclActivating + 13.85sINFOamclSubscribed to initial_pose_topic: /initialpose + 13.85sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 13.88sINFOamclSubscribed to map_topic: /map + 13.88sINFOamclSubscribed to scan_topic: /scan_merged + 13.88sINFOamclCreated reinitialize_global_localization service + 13.88sINFOamclCreated request_nomotion_update service + 13.89sINFOamclA new map was received + 13.89sINFOamclInitializing particle filter instance + 13.89sINFOlifecycle_manager_navigationCreating + 13.90sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 13.93sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 13.93sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 13.94sINFOcontroller_serverConfiguring controller interface + 13.94sINFOcontroller_servergetting progress checker plugins.. + 13.94sINFOcontroller_servergetting goal checker plugins.. + 13.94sINFOcontroller_serverController frequency set to 20.0000Hz + 13.94sINFOlocal_costmap.local_costmapConfiguring + 13.95sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 13.97sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 13.97sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 13.97sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 13.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 13.98sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 13.98sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 14.02sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.02sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.03sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.08sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.09sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.09sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.10sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.10sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.10sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 14.10sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.10sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.14sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.16sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.16sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.17sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.17sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.18sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.19sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.20sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.20sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.21sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.21sINFOamclParticle filter initialization completed + 14.21sINFOamclInitializing particles from estimated pose and covariance + 14.21sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.21sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.21sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.22sINFOcontroller_serverOptimizer reset + 14.22sINFOcontroller_serverController Server has FollowPath controllers available. + 14.22sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.23sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.23sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.25sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.25sINFOsmoother_serverConfiguring smoother server + 14.27sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.29sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.30sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.30sINFOplanner_serverConfiguring + 14.30sINFOglobal_costmap.global_costmapConfiguring + 14.31sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.31sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.33sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.33sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.33sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.34sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.35sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.309441 seconds + 14.35sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.35sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.35sINFOmove_groupLoaded robot model in 0.309441 seconds[0m ×2 + 14.36sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.36sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775405 ms (missed cycles : 3). + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775405 ms (missed cycles : 3).[0m ×2 + 14.37sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.37sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.38sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.42sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 14.42sINFOplanner_serverCleaning up + 14.42sINFOglobal_costmap.global_costmapCleaning up + 14.42sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.49sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.49sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.71sINFOwaypoint_manager_nodeLoaded robot model in 0.360812 seconds[0m ×2 + 14.72sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.72sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.82sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.82sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.82sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.83sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.02sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 15.03sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 15.26sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.26sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.26sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.26sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.31sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.31sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.31sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.31sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.32sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.32sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.33sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.33sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.33sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.33sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.34sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.34sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.35sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.46sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.46sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.46sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.47sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.47sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.47sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.47sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.47sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.47sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.48sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.48sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.48sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.48sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.48sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.48sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.48sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.48sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.48sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.48sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.77sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.77sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.78sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 15.96sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 15.96sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 15.96sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 15.96sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 15.96sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 15.96sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 15.96sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 15.96sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 15.96sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 15.96sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 15.96sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 15.96sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 15.96sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 15.96sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 15.96sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 15.96sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 15.96sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 15.96sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 15.96sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 15.96sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 15.96sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 15.96sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 15.96sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 15.99sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.99sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 15.99sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 16.03sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 16.03sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 16.03sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 16.03sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 16.06sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 16.06sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 16.09sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 16.09sINFOros2Loaded joint_state_broadcaster ×2 + 16.09sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 16.09sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 16.09sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 16.09sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 16.09sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 16.09sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 16.09sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 16.09sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 16.10sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 16.10sINFOcontroller_managerSuccessfully switched controllers! ×8 + 16.10sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 16.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 16.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 16.10sINFOros2Configured and activated joint_state_broadcaster ×2 + 16.18sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 3.448ms + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.32sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.32sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.32sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.33sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.33sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753173 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753173 ms (missed cycles : 2).[0m ×2 + 16.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.35sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.35sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.41sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 16.41sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 16.41sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 16.41sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 16.42sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 16.42sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 16.44sINFOros2-10process has finished cleanly [pid 9310] ×2 + 16.48sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 16.48sINFOros2Loaded imu_sensor_broadcaster ×2 + 16.48sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 16.48sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 16.49sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 16.49sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 16.49sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 16.49sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 16.56sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.56sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.56sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.56sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.58sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 16.67sINFOobjective_server_node[2026-06-25 18:09:56.445] [moveit_pro_license] [info] ×2 + 16.67sINFOobjective_server_node************************************************* ×4 + 16.67sINFOobjective_server_node* MoveIt Pro License ×2 + 16.67sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.75sINFOobjective_server_nodeLoaded robot model in 0.034059 seconds[0m ×2 + 16.75sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.75sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.83sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.83sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 16.84sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.84sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 16.85sINFOros2-9process has finished cleanly [pid 9309] ×2 + 16.97sINFOcomponent_container_mtLoaded robot model in 0.389847 seconds[0m ×2 + 16.97sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 16.97sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.01sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 17.01sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 17.07sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 17.07sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 17.08sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 17.08sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 17.09sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 17.09sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.14sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.20sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 17.20sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.23sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.23sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.23sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.23sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.23sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.23sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.23sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466515 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.466515 ms (missed cycles : 2).[0m ×2 + 17.35sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.35sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.39sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.40sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.41sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.50sINFOros2_control_node[2026-06-25 18:09:57.274] [info] Controller state will be published at 20 Hz. ×2 + 17.50sINFOros2_control_node[2026-06-25 18:09:57.276] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.82sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.83sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.83sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 17.86sINFOros2-18process has finished cleanly [pid 9318] ×2 + 17.88sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 17.88sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 17.88sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 17.88sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 17.89sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 17.89sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 17.97sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 17.97sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 17.98sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 17.98sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 17.99sINFOforce_torque_sensor_broadcasterconfigure successful + 17.99sINFOros2_control_nodeconfigure successful[0m ×6 + 17.99sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 17.99sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 17.99sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 17.99sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 18.04sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.04sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.06sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 18.06sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 18.06sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 18.06sINFOmove_groupMoveGroup debug mode is ON + 18.06sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 18.06sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.07sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 18.07sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.12sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.12sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 18.19sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.20sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.20sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.21sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.29sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.29sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.32sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.32sINFOcomponent_container_mtStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.32sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.32sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.32sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.32sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.33sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.33sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.33sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.33sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.33sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.33sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.34sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.34sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 18.34sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664227 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664227 ms (missed cycles : 3).[0m ×2 + 18.37sINFOros2-8process has finished cleanly [pid 9242] ×2 + 18.40sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 18.40sINFOmove_group ×8 + 18.40sINFOmove_group******************************************************** ×4 + 18.40sINFOmove_group* MoveGroup using: ×2 + 18.40sINFOmove_group* - apply_planning_scene_service ×2 + 18.40sINFOmove_group* - clear_octomap_service ×2 + 18.40sINFOmove_group* - ExecuteTaskSolution ×2 + 18.40sINFOmove_group* - get_group_urdf ×2 + 18.40sINFOmove_group* - load_geometry_from_file ×2 + 18.40sINFOmove_group* - get_planning_scene_service ×2 + 18.40sINFOmove_group* - kinematics_service ×2 + 18.40sINFOmove_group* - save_geometry_to_file ×2 + 18.40sINFOmove_group* - GetPlanningGroups ×2 + 18.40sINFOmove_group* - SetActiveControllerService ×2 + 18.41sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.41sINFOmove_group[0m ×2 + 18.41sINFOmove_group[92mYou can start planning now![0m ×2 + 18.43sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 18.43sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 18.44sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.44sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.45sINFOplatform_velocity_controller_nav2configure successful + 18.80sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 18.80sINFOcontroller_managerLoading controller 'vacuum_gripper' + 18.80sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 18.80sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 18.80sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 18.80sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 18.83sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 18.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 18.85sINFOros2-13process has finished cleanly [pid 9313] ×2 + 18.87sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 18.87sINFOros2Loaded vacuum_gripper ×2 + 18.87sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 18.87sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 18.87sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 18.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 18.87sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 18.87sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 18.88sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 18.88sINFOros2Configured and activated vacuum_gripper ×2 + 19.22sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.22sINFOcontroller_managerLoading controller 'velocity_force_controller' + 19.22sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.22sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 19.23sINFOros2-12process has finished cleanly [pid 9312] ×2 + 19.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 19.32sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 19.39sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 19.39sINFOros2Loaded velocity_force_controller ×2 + 19.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 19.40sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 19.44sWARNobjective_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/. ×2 + 19.49sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.78sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.78sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 19.79sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.12sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.13sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.13sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 20.13sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.13sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 20.16sINFOros2-15process has finished cleanly [pid 9315] ×2 + 20.20sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 20.21sINFOros2Loaded platform_velocity_controller ×2 + 20.21sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.21sINFOplatform_velocity_controllerconfigure successful + 20.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.22sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 20.22sINFOros2Configured and activated platform_velocity_controller ×2 + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 20.56sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.56sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.56sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.56sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.57sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 20.57sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 20.58sINFOros2-11process has finished cleanly [pid 9311] ×2 + 20.68sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 20.68sINFOros2Loaded joint_trajectory_controller ×2 + 20.68sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.68sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.68sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.68sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.68sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.69sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.69sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.69sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.69sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.69sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.69sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.69sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.70sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 21.03sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.03sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 21.03sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 21.03sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.03sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 21.03sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 21.05sINFOros2-14process has finished cleanly [pid 9314] ×2 + 21.10sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 21.10sINFOros2Loaded joint_velocity_controller ×2 + 21.10sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 21.10sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 21.45sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 21.46sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 21.84sINFOros2-17process has finished cleanly [pid 9317] ×2 + 21.85sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.11sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.11sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 22.11sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 22.11sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.11sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 22.11sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 22.14sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 22.14sINFOros2Loaded arm_only_velocity_force_controller ×2 + 22.14sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 22.14sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 22.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 22.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 22.77sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.77sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 22.77sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 22.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 23.11sINFOros2-16process has finished cleanly [pid 9316] ×2 + 23.38sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 23.38sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 23.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 23.38sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×10 + 23.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 23.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.39sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.39sINFOmove_groupClearing octomap...[0m ×2 + 23.39sINFOmove_groupOctomap cleared.[0m ×2 + 23.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 23.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 23.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 24.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 24.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 24.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 24.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 25.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 25.28sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 25.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.28sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 25.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.30sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 25.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 25.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 25.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 25.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 25.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 25.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 25.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 25.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 25.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 25.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 26.00sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 39 warnings · 268 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.04sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.08sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.08sINFOros2Loaded platform_velocity_controller ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.09sINFOplatform_velocity_controllerconfigure successful + 0.09sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.10sINFOros2Configured and activated platform_velocity_controller ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.45sINFOros2-11process has finished cleanly [pid 9311] ×2 + 0.56sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.56sINFOros2Loaded joint_trajectory_controller ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.56sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.56sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.91sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.92sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.97sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.97sINFOros2Loaded joint_velocity_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.33sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 1.33sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.72sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.72sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.98sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.98sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.98sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.99sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.02sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.02sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.64sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.26sWARNobjective_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 ×5 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.26sINFOobjective_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 ×10 + 3.26sINFOobjective_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 ×10 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.82sWARNobjective_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 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.09sINFOjoint_trajectory_controllerReceived new action goal + 7.09sINFOjoint_trajectory_controllerAccepted new action goal + 7.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 41 warnings · 277 info |
+ 0.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.00sINFOros2Loaded velocity_force_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 0.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.77sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.81sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.81sINFOros2Loaded platform_velocity_controller ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.82sINFOplatform_velocity_controllerconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.83sINFOros2Configured and activated platform_velocity_controller ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.18sINFOros2-11process has finished cleanly [pid 9311] ×2 + 1.29sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.29sINFOros2Loaded joint_trajectory_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9314] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 2.45sINFOros2-17process has finished cleanly [pid 9317] ×2 + 2.45sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.75sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 3.37sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.72sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.99sINFOobjective_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 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 3.99sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | skipped |
No ROS log lines in this test's time window. | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 38 warnings · 277 info |
+ 0.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.00sINFOros2Loaded velocity_force_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 0.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.77sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.81sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.81sINFOros2Loaded platform_velocity_controller ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.82sINFOplatform_velocity_controllerconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.83sINFOros2Configured and activated platform_velocity_controller ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.18sINFOros2-11process has finished cleanly [pid 9311] ×2 + 1.29sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.29sINFOros2Loaded joint_trajectory_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9314] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 2.45sINFOros2-17process has finished cleanly [pid 9317] ×2 + 2.45sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.75sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 3.37sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.72sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.99sINFOobjective_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 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 3.99sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 38 warnings · 277 info |
+ 0.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.00sINFOros2Loaded velocity_force_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 0.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.77sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.81sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.81sINFOros2Loaded platform_velocity_controller ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.82sINFOplatform_velocity_controllerconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.83sINFOros2Configured and activated platform_velocity_controller ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.18sINFOros2-11process has finished cleanly [pid 9311] ×2 + 1.29sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.29sINFOros2Loaded joint_trajectory_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9314] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 2.45sINFOros2-17process has finished cleanly [pid 9317] ×2 + 2.45sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.75sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 3.37sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.72sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.99sINFOobjective_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 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 3.99sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 38 warnings · 277 info |
+ 0.00sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.00sINFOros2Loaded velocity_force_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2). + 0.01sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352004 ms (missed cycles : 2).[0m ×2 + 0.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×6 + 0.05sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.10sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.560] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.564] [info] Controller state will be published at 10 Hz. ×2 + 0.39sINFOros2_control_node[2026-06-25 18:09:59.565] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.73sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.73sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.77sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.81sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.81sINFOros2Loaded platform_velocity_controller ×2 + 0.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.82sINFOplatform_velocity_controllerconfigure successful + 0.82sINFOros2_control_nodeconfigure successful[0m ×2 + 0.82sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.82sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.82sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.83sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.83sINFOros2Configured and activated platform_velocity_controller ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.17sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.17sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.17sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.18sINFOros2-11process has finished cleanly [pid 9311] ×2 + 1.29sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.29sINFOros2Loaded joint_trajectory_controller ×2 + 1.29sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.29sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.29sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.29sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.29sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.29sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.29sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.29sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.29sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.29sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.29sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.30sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.31sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.64sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.64sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.64sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.64sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.64sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.64sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.65sINFOros2-14process has finished cleanly [pid 9314] ×2 + 1.70sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.70sINFOros2Loaded joint_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 2.06sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 2.45sINFOros2-17process has finished cleanly [pid 9317] ×2 + 2.45sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.45sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 2.71sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.71sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 2.71sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 2.71sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.71sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 2.72sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.74sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.75sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.75sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.75sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 3.37sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 3.38sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.72sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.99sWARNobjective_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 + 3.99sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.99sINFOobjective_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 + 3.99sINFOobjective_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 + 3.99sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.99sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.99sINFOmove_groupClearing octomap...[0m ×2 + 3.99sINFOmove_groupOctomap cleared.[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 5.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 5.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.88sINFOobjective_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 + 5.88sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.88sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.88sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.88sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.90sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.90sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.91sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.91sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.61sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 36 warnings · 259 info |
+ 0.00sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.00sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.00sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.00sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.00sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.04sINFOros2-15process has finished cleanly [pid 9315] ×2 + 0.08sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.08sINFOros2Loaded platform_velocity_controller ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.08sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.09sINFOplatform_velocity_controllerconfigure successful + 0.09sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.09sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.10sINFOros2Configured and activated platform_velocity_controller ×2 + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990765 ms (missed cycles : 3).[0m ×2 + 0.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.45sINFOros2-11process has finished cleanly [pid 9311] ×2 + 0.56sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.56sINFOros2Loaded joint_trajectory_controller ×2 + 0.56sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.56sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.56sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.56sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.56sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.56sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.56sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.56sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.56sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.56sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.56sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.57sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.58sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.91sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.91sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.91sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.91sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.91sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.91sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.92sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.97sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.97sINFOros2Loaded joint_velocity_controller ×2 + 0.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.33sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 1.33sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 1.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.72sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.72sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.72sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.98sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.98sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.98sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.98sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.98sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.99sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 2.01sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 2.02sINFOros2Loaded arm_only_velocity_force_controller ×2 + 2.02sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 2.02sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.64sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.65sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.65sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.99sINFOros2-16process has finished cleanly [pid 9316] ×2 + 3.26sWARNobjective_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 ×5 + 3.26sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.26sINFOobjective_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 ×10 + 3.26sINFOobjective_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 ×10 + 3.26sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.26sINFOmove_groupClearing octomap...[0m ×2 + 3.26sINFOmove_groupOctomap cleared.[0m ×2 + 3.27sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.85sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 4.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 5.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 5.15sINFOobjective_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 + 5.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.19sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.88sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 39 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179590 ms (missed cycles : 3). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179590 ms (missed cycles : 3).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 36 warnings · 228 info |
+ 0.00sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.00sINFOros2Loaded joint_trajectory_controller ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.00sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.00sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.00sINFOros2_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_controllerGoals with partial set of joints are allowed + 0.01sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.01sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.01sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.01sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.01sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.01sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.02sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.35sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.35sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 0.35sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 0.37sINFOros2-14process has finished cleanly [pid 9314] ×2 + 0.42sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.42sINFOros2Loaded joint_velocity_controller ×2 + 0.42sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.42sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.233] [info] Controller state will be published at 20 Hz. ×2 + 0.78sINFOros2_control_node[2026-06-25 18:10:01.234] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.165703 ms (missed cycles : 5).[0m ×2 + 1.16sINFOros2-17process has finished cleanly [pid 9317] ×2 + 1.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.43sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.43sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.43sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl + 1.43sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.43sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.43sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_4avr5enj --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_g0os2gim --params-file /tmp/launch_params_zwwozpyl [0m ×2 + 1.46sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.46sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.46sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.46sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066802 ms (missed cycles : 4).[0m ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.544] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.548] [info] Controller state will be published at 10 Hz. ×2 + 2.09sINFOros2_control_node[2026-06-25 18:10:02.550] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.43sINFOros2-16process has finished cleanly [pid 9316] ×2 + 2.70sWARNobjective_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 + 2.70sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.70sINFOobjective_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 + 2.70sINFOobjective_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 + 2.71sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411003.16432643 seconds. ×3 + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.71sINFOmove_groupClearing octomap...[0m ×2 + 2.71sINFOmove_groupOctomap cleared.[0m ×2 + 2.72sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411003.17462254 seconds ×3 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989268 ms (missed cycles : 3).[0m ×2 + 3.29sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411003.74787235 seconds. ×3 + 3.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411003.75801563 seconds ×3 + 3.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411004.30749416 seconds. ×3 + 4.00sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411004.45806408 seconds ×3 + 4.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954478 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411005.04200888 seconds. ×3 + 4.60sINFOobjective_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 + 4.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.60sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.60sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.63sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.63sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.63sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411005.11216116 seconds ×3 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.325350 ms (missed cycles : 5).[0m ×2 + 5.20sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411005.66146541 seconds. ×3 + 5.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.22sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.22sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.32sINFOros2_control_nodeMuJoCo sim: 0.33% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970030 ms (missed cycles : 6).[0m ×2 + 6.27sWARNobjective_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 + 6.27sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sINFOjoint_trajectory_controllerReceived new action goal + 6.53sINFOjoint_trajectory_controllerAccepted new action goal + 6.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||