67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.3s
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 | 73.8s | 3 errors · 246 warnings · 264 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.222ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498757 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498757 ms (missed cycles : 3).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.475ms + 1.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.575ms + 1.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.058ms + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254187 ms (missed cycles : 3). + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254187 ms (missed cycles : 3).[0m ×2 + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 2.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 2.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126479 ms (missed cycles : 4). + 2.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126479 ms (missed cycles : 4).[0m ×2 + 3.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.343ms ×2 + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.409ms + 3.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234868 ms (missed cycles : 2). + 3.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234868 ms (missed cycles : 2).[0m ×2 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.07sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782411349.25739169 seconds ×3 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.841ms + 4.08sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.109ms + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 4.62sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.62sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.62sINFOobjective_server_nodeError registering 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 + 4.62sINFOobjective_server_nodeError registering Objective at 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 + 4.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782411349.81510115 seconds. ×3 + 4.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.65sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146415 ms (missed cycles : 4). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146415 ms (missed cycles : 4).[0m ×2 + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.547ms + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.263ms + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932366 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932366 ms (missed cycles : 2).[0m ×2 + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.570ms + 6.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.393ms + 6.25sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.430ms + 6.48sINFOjoint_trajectory_controllerReceived new action goal ×4 + 6.48sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 6.48sINFOros2_control_nodeReceived new action goal[0m ×8 + 6.48sINFOros2_control_nodeAccepted new action goal[0m ×8 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861458 ms (missed cycles : 5). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861458 ms (missed cycles : 5).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.615ms + 7.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.145ms + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.191ms + 7.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.788ms + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491003 ms (missed cycles : 3). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491003 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.537ms + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.950ms + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.654ms + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143291 ms (missed cycles : 2). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143291 ms (missed cycles : 2).[0m ×2 + 9.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.894ms + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671287 ms (missed cycles : 2). + 10.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671287 ms (missed cycles : 2).[0m ×2 + 10.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.696ms + 10.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947474 ms (missed cycles : 2). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947474 ms (missed cycles : 2).[0m ×2 + 11.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms ×2 + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.557ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091044 ms (missed cycles : 2). + 12.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.710ms + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091044 ms (missed cycles : 2).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.035ms + 12.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.508ms ×2 + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541959 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541959 ms (missed cycles : 3).[0m ×2 + 13.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.360ms + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.212ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769967 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.769967 ms (missed cycles : 3).[0m ×2 + 14.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.298ms + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.017ms + 15.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181034 ms (missed cycles : 2). + 15.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.181034 ms (missed cycles : 2).[0m ×2 + 15.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.325ms + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.711ms + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655199 ms (missed cycles : 4). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.655199 ms (missed cycles : 4).[0m ×2 + 16.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.035ms + 16.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.341ms + 17.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054386 ms (missed cycles : 2). + 17.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.054386 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 17.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.875ms + 18.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.999ms + 18.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.455ms ×2 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851469 ms (missed cycles : 5). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.851469 ms (missed cycles : 5).[0m ×2 + 18.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.670ms + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300607 ms (missed cycles : 2). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300607 ms (missed cycles : 2).[0m ×2 + 19.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.580ms + 20.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.032ms + 20.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762329 ms (missed cycles : 5). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.762329 ms (missed cycles : 5).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.347ms + 21.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.714ms + 21.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.554ms ×2 + 21.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202243 ms (missed cycles : 3). + 21.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202243 ms (missed cycles : 3).[0m ×2 + 22.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.836ms + 22.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.064ms + 22.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.820ms + 22.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359819 ms (missed cycles : 4). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.359819 ms (missed cycles : 4).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.587ms + 23.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032455 ms (missed cycles : 5). + 23.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.032455 ms (missed cycles : 5).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.705ms + 24.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.616ms + 24.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 24.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648314 ms (missed cycles : 5). + 24.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.648314 ms (missed cycles : 5).[0m ×2 + 24.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.698ms + 25.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 25.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.098ms + 25.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929322 ms (missed cycles : 2). + 25.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929322 ms (missed cycles : 2).[0m ×2 + 26.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.628ms + 26.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.895ms + 27.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176231 ms (missed cycles : 3). + 27.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176231 ms (missed cycles : 3).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 27.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.159ms + 27.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.632ms + 27.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.063ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351961 ms (missed cycles : 4). + 28.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.351961 ms (missed cycles : 4).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.545ms + 28.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.799403 ms (missed cycles : 6). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.799403 ms (missed cycles : 6).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.367ms + 29.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.883ms + 30.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392922 ms (missed cycles : 3). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392922 ms (missed cycles : 3).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.332ms + 30.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.768ms + 31.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169864 ms (missed cycles : 2). + 31.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169864 ms (missed cycles : 2).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.079ms + 31.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.179ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204484 ms (missed cycles : 2). + 32.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204484 ms (missed cycles : 2).[0m ×2 + 32.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.700ms + 33.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519354 ms (missed cycles : 3). + 33.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.519354 ms (missed cycles : 3).[0m ×2 + 33.73sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.73sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.95sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2). + 34.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150545 ms (missed cycles : 2).[0m ×2 + 34.64sWARNobjective_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 + 34.64sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 35.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.115678 ms (missed cycles : 6). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.115678 ms (missed cycles : 6).[0m ×2 + 36.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523285 ms (missed cycles : 3). + 36.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523285 ms (missed cycles : 3).[0m ×2 + 37.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.749ms + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890553 ms (missed cycles : 2). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890553 ms (missed cycles : 2).[0m ×2 + 37.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.767ms + 37.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.407ms ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333215 ms (missed cycles : 4). + 38.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.456ms + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333215 ms (missed cycles : 4).[0m ×2 + 38.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.285ms + 39.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.187ms + 39.40sINFOros2_control_nodeMuJoCo sim: 1.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 39.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.188ms + 39.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998064 ms (missed cycles : 2). + 39.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998064 ms (missed cycles : 2).[0m ×2 + 40.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.613ms + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539421 ms (missed cycles : 3). + 40.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539421 ms (missed cycles : 3).[0m ×2 + 41.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567699 ms (missed cycles : 3). + 41.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.567699 ms (missed cycles : 3).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003915 ms (missed cycles : 3). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.003915 ms (missed cycles : 3).[0m ×2 + 42.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.377ms + 42.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.477ms + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219526 ms (missed cycles : 3). + 43.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219526 ms (missed cycles : 3).[0m ×2 + 43.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.124ms + 44.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.607ms + 44.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554692 ms (missed cycles : 3). + 44.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554692 ms (missed cycles : 3).[0m ×2 + 45.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.396ms + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154929 ms (missed cycles : 2). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154929 ms (missed cycles : 2).[0m ×2 + 45.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 46.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.699ms + 46.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.193ms + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095649 ms (missed cycles : 4). + 46.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.095649 ms (missed cycles : 4).[0m ×2 + 47.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.412ms + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607679 ms (missed cycles : 3). + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.607679 ms (missed cycles : 3).[0m ×2 + 47.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.243ms + 48.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.200ms + 48.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.713ms + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920711 ms (missed cycles : 5). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.920711 ms (missed cycles : 5).[0m ×2 + 49.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.561ms + 49.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956203 ms (missed cycles : 2). + 49.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956203 ms (missed cycles : 2).[0m ×2 + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272451 ms (missed cycles : 3). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272451 ms (missed cycles : 3).[0m ×2 + 50.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.428ms + 51.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.844ms + 51.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.749ms + 51.25sINFOobjective_server_nodePlanning for 44 path waypoints. ×3 + 51.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338446 ms (missed cycles : 2). + 51.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338446 ms (missed cycles : 2).[0m ×2 + 52.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244213 ms (missed cycles : 2). + 52.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.244213 ms (missed cycles : 2).[0m ×2 + 53.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.630ms + 53.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.850ms + 53.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.158ms + 54.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374729 ms (missed cycles : 4). + 54.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.374729 ms (missed cycles : 4).[0m ×2 + 55.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784183 ms (missed cycles : 4). + 55.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784183 ms (missed cycles : 4).[0m ×2 + 55.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.159ms + 56.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753337 ms (missed cycles : 3). + 56.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753337 ms (missed cycles : 3).[0m ×2 + 56.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.928ms + 57.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.834ms + 57.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293201 ms (missed cycles : 3). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293201 ms (missed cycles : 3).[0m ×2 + 58.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939622 ms (missed cycles : 2). + 58.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939622 ms (missed cycles : 2).[0m ×2 + 59.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984469 ms (missed cycles : 2). + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984469 ms (missed cycles : 2).[0m ×2 + 59.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.098ms + 59.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.990ms + 59.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.108ms + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.798393 ms (missed cycles : 6). + 60.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.798393 ms (missed cycles : 6).[0m ×2 + 61.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.868ms + 61.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681518 ms (missed cycles : 2). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681518 ms (missed cycles : 2).[0m ×2 + 62.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.637ms + 62.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.022ms + 62.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.361ms + 62.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423975 ms (missed cycles : 3). + 62.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.423975 ms (missed cycles : 3).[0m ×2 + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749322 ms (missed cycles : 2). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749322 ms (missed cycles : 2).[0m ×2 + 63.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 63.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.048ms + 64.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.778ms + 64.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765267 ms (missed cycles : 3). + 64.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765267 ms (missed cycles : 3).[0m ×2 + 64.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 64.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.309ms + 64.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.822ms + 65.40sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 65.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433475 ms (missed cycles : 4). + 65.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433475 ms (missed cycles : 4).[0m ×2 + 66.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720565 ms (missed cycles : 5). + 66.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720565 ms (missed cycles : 5).[0m ×2 + 66.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 66.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 67.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232818 ms (missed cycles : 2). + 67.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.232818 ms (missed cycles : 2).[0m ×2 + 68.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812799 ms (missed cycles : 3). + 68.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812799 ms (missed cycles : 3).[0m ×2 + 69.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 69.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 69.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152811 ms (missed cycles : 2). + 69.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.152811 ms (missed cycles : 2).[0m ×2 + 69.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms ×2 + 70.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646398 ms (missed cycles : 3). + 70.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.646398 ms (missed cycles : 3).[0m ×2 + 70.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 71.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.496ms + 71.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 71.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887766 ms (missed cycles : 2). + 71.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887766 ms (missed cycles : 2).[0m ×2 + 72.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.325ms + 72.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931435 ms (missed cycles : 3). + 72.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931435 ms (missed cycles : 3).[0m ×2 + 73.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.511ms + 73.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 73.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 73.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 74.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 74.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 74.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 75.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 75.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 75.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 75.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 75.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 75.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 75.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 76.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 77.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 77.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 77.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 77.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 78.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 78.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 78.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 78.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 78.46sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 78.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 78.93sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 78.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 79.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 79.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 79.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 79.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 79.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 80.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 80.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 80.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 80.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 80.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 195 warnings · 193 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3).[0m ×2 + 0.27sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.28sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411187.60358810 seconds ×3 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.46sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 1.930ms + 0.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×3 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 0.86sINFOobjective_server_nodeError registering 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 + 0.86sINFOobjective_server_nodeError registering Objective at 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 + 0.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411188.16553020 seconds. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 8.169ms + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4801e-05 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.84sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.84sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.84sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.84sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411191.25575948 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044554 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044554 ms (missed cycles : 2).[0m ×2 + 4.16sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.621ms + 4.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411191.81161690 seconds. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.86sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 4.420ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485889 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485889 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696536 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696536 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895491 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895491 ms (missed cycles : 2).[0m ×2 + 8.26sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.267ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610234 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610234 ms (missed cycles : 3).[0m ×2 + 8.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833120 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833120 ms (missed cycles : 2).[0m ×2 + 9.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.392ms + 10.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523747 ms (missed cycles : 2). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523747 ms (missed cycles : 2).[0m ×2 + 10.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 11.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154004 ms (missed cycles : 4). + 11.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.154004 ms (missed cycles : 4).[0m ×2 + 11.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 12.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024397 ms (missed cycles : 3). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024397 ms (missed cycles : 3).[0m ×2 + 12.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 13.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms ×2 + 13.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183200 ms (missed cycles : 4). + 13.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183200 ms (missed cycles : 4).[0m ×2 + 13.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 14.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 14.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126723 ms (missed cycles : 3). + 14.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126723 ms (missed cycles : 3).[0m ×2 + 14.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 15.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 15.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819556 ms (missed cycles : 2). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819556 ms (missed cycles : 2).[0m ×2 + 15.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 16.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122366 ms (missed cycles : 2). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.122366 ms (missed cycles : 2).[0m ×2 + 16.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 17.27sINFOros2_control_nodeMuJoCo sim: 0.60% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 17.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 17.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259422 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.259422 ms (missed cycles : 2).[0m ×2 + 17.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 18.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 18.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887000 ms (missed cycles : 2). + 18.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.887000 ms (missed cycles : 2).[0m ×2 + 18.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 19.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800167 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800167 ms (missed cycles : 3).[0m ×2 + 20.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 20.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780579 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780579 ms (missed cycles : 2).[0m ×2 + 21.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 21.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 21.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827455 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827455 ms (missed cycles : 3).[0m ×2 + 22.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 22.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 22.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766321 ms (missed cycles : 2). + 22.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766321 ms (missed cycles : 2).[0m ×2 + 23.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 23.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580858 ms (missed cycles : 3). + 24.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580858 ms (missed cycles : 3).[0m ×2 + 24.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 24.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 25.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011761 ms (missed cycles : 3). + 25.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011761 ms (missed cycles : 3).[0m ×2 + 25.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 25.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.824ms + 25.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 25.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222937 ms (missed cycles : 3). + 26.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222937 ms (missed cycles : 3).[0m ×2 + 26.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 26.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 26.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347580 ms (missed cycles : 4). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.347580 ms (missed cycles : 4).[0m ×2 + 27.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 27.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.723118 ms (missed cycles : 6). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.723118 ms (missed cycles : 6).[0m ×2 + 28.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms ×2 + 28.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082017 ms (missed cycles : 2). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082017 ms (missed cycles : 2).[0m ×2 + 29.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 29.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904273 ms (missed cycles : 2). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904273 ms (missed cycles : 2).[0m ×2 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 31.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809783 ms (missed cycles : 3). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809783 ms (missed cycles : 3).[0m ×2 + 31.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522262 ms (missed cycles : 2). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.522262 ms (missed cycles : 2).[0m ×2 + 32.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 33.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637885 ms (missed cycles : 3). + 33.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637885 ms (missed cycles : 3).[0m ×2 + 33.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.038ms + 33.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 33.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 34.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 34.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820498 ms (missed cycles : 3). + 34.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820498 ms (missed cycles : 3).[0m ×2 + 35.20sWARNobjective_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 + 35.20sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795576 ms (missed cycles : 3). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.795576 ms (missed cycles : 3).[0m ×2 + 36.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895125 ms (missed cycles : 3). + 36.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895125 ms (missed cycles : 3).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651034 ms (missed cycles : 4). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.651034 ms (missed cycles : 4).[0m ×2 + 38.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011436 ms (missed cycles : 2). + 38.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.011436 ms (missed cycles : 2).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257210 ms (missed cycles : 3). + 39.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257210 ms (missed cycles : 3).[0m ×2 + 40.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854212 ms (missed cycles : 3). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854212 ms (missed cycles : 3).[0m ×2 + 41.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616935 ms (missed cycles : 4). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.616935 ms (missed cycles : 4).[0m ×2 + 42.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345424 ms (missed cycles : 2). + 42.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345424 ms (missed cycles : 2).[0m ×2 + 44.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747667 ms (missed cycles : 2). + 44.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747667 ms (missed cycles : 2).[0m ×2 + 45.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799394 ms (missed cycles : 2). + 45.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799394 ms (missed cycles : 2).[0m ×2 + 46.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027839 ms (missed cycles : 5). + 46.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.027839 ms (missed cycles : 5).[0m ×2 + 46.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083824 ms (missed cycles : 4). + 47.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.083824 ms (missed cycles : 4).[0m ×2 + 48.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.813ms + 48.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342160 ms (missed cycles : 2). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.342160 ms (missed cycles : 2).[0m ×2 + 49.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534105 ms (missed cycles : 6). + 49.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.534105 ms (missed cycles : 6).[0m ×2 + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199267 ms (missed cycles : 4). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.199267 ms (missed cycles : 4).[0m ×2 + 51.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901180 ms (missed cycles : 4). + 51.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.901180 ms (missed cycles : 4).[0m ×2 + 52.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036547 ms (missed cycles : 2). + 52.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.036547 ms (missed cycles : 2).[0m ×2 + 52.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 53.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142382 ms (missed cycles : 2). + 53.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.142382 ms (missed cycles : 2).[0m ×2 + 54.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963955 ms (missed cycles : 2). + 54.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.963955 ms (missed cycles : 2).[0m ×2 + 55.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732341 ms (missed cycles : 3). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732341 ms (missed cycles : 3).[0m ×2 + 56.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773760 ms (missed cycles : 5). + 56.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.773760 ms (missed cycles : 5).[0m ×2 + 57.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 57.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4). + 57.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4).[0m ×2 + 58.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3). + 58.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3).[0m ×2 + 59.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2). + 59.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2).[0m ×2 + 60.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 60.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5). + 60.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5).[0m ×2 + 60.84sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411248.14177418 seconds ×3 + 60.97sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.418ms + 61.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 61.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 61.41sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411248.71587253 seconds. ×3 + 61.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2).[0m ×2 + 61.82sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 61.85sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.308ms + 62.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 62.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 63.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 63.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 56.1s | 192 warnings · 197 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.95sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms + 6.94sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.494ms + 7.18sINFOjoint_trajectory_controllerReceived new action goal ×3 + 7.18sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 7.18sINFOros2_control_nodeReceived new action goal[0m ×6 + 7.18sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.851ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235657 ms (missed cycles : 7). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.235657 ms (missed cycles : 7).[0m ×2 + 7.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.871ms ×2 + 7.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.034ms + 8.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.535ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048697 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.048697 ms (missed cycles : 2).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.324ms + 8.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.235ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829867 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829867 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455225 ms (missed cycles : 6). + 10.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455225 ms (missed cycles : 6).[0m ×2 + 10.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.448ms + 11.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.199ms + 11.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189347 ms (missed cycles : 2). + 11.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189347 ms (missed cycles : 2).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.392ms + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.870ms + 12.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696177 ms (missed cycles : 2). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696177 ms (missed cycles : 2).[0m ×2 + 12.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.183ms + 13.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.822ms + 13.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831674 ms (missed cycles : 3). + 13.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831674 ms (missed cycles : 3).[0m ×2 + 13.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.603ms + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.679ms + 14.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555600 ms (missed cycles : 3). + 14.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.555600 ms (missed cycles : 3).[0m ×2 + 14.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.360ms + 15.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.834ms + 15.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.633ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571102 ms (missed cycles : 3). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571102 ms (missed cycles : 3).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.105ms + 16.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.010ms + 16.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.238ms + 16.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.400ms + 16.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879721 ms (missed cycles : 3). + 16.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879721 ms (missed cycles : 3).[0m ×2 + 17.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.794ms + 17.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.337ms + 17.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943704 ms (missed cycles : 5). + 17.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.943704 ms (missed cycles : 5).[0m ×2 + 18.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.736ms + 18.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.768ms + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494188 ms (missed cycles : 3). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494188 ms (missed cycles : 3).[0m ×2 + 18.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 19.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.665ms + 19.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.044ms + 19.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127803 ms (missed cycles : 4). + 19.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127803 ms (missed cycles : 4).[0m ×2 + 20.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.749ms + 21.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918735 ms (missed cycles : 2). + 21.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918735 ms (missed cycles : 2).[0m ×2 + 21.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.867ms + 21.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.095ms + 21.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.842ms + 21.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131148 ms (missed cycles : 5). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131148 ms (missed cycles : 5).[0m ×2 + 22.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.447ms + 22.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.137ms + 22.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.621ms + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586134 ms (missed cycles : 4). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.586134 ms (missed cycles : 4).[0m ×2 + 23.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 23.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.517ms ×2 + 24.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.760177 ms (missed cycles : 6). + 24.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.760177 ms (missed cycles : 6).[0m ×2 + 24.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.246ms + 24.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.854ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609969 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609969 ms (missed cycles : 3).[0m ×2 + 25.48sINFOros2_control_nodeMuJoCo sim: 1.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.775ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975650 ms (missed cycles : 3). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.975650 ms (missed cycles : 3).[0m ×2 + 26.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.694ms + 26.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.666ms + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014222 ms (missed cycles : 2). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.014222 ms (missed cycles : 2).[0m ×2 + 27.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.558ms + 27.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.256ms + 28.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392909 ms (missed cycles : 3). + 28.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392909 ms (missed cycles : 3).[0m ×2 + 28.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.185ms + 28.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.974ms + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911117 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911117 ms (missed cycles : 2).[0m ×2 + 29.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.886ms + 29.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.332ms + 29.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.545ms + 29.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.673ms + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978054 ms (missed cycles : 3). + 30.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978054 ms (missed cycles : 3).[0m ×2 + 30.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.738ms + 30.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.227ms + 31.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.720ms + 31.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.139ms + 31.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576612 ms (missed cycles : 3). + 31.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576612 ms (missed cycles : 3).[0m ×2 + 31.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.709ms + 32.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.551ms + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326231 ms (missed cycles : 2). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326231 ms (missed cycles : 2).[0m ×2 + 33.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.354ms + 33.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874489 ms (missed cycles : 2). + 33.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.874489 ms (missed cycles : 2).[0m ×2 + 33.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.833ms + 33.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.007ms + 34.45sWARNobjective_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 + 34.45sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493126 ms (missed cycles : 4). + 34.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.493126 ms (missed cycles : 4).[0m ×2 + 35.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101185 ms (missed cycles : 2). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.101185 ms (missed cycles : 2).[0m ×2 + 36.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.750ms + 36.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.024ms + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335077 ms (missed cycles : 2). + 36.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335077 ms (missed cycles : 2).[0m ×2 + 37.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544067 ms (missed cycles : 3). + 37.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.544067 ms (missed cycles : 3).[0m ×2 + 38.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.547ms + 38.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.728ms + 38.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001888 ms (missed cycles : 3). + 38.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001888 ms (missed cycles : 3).[0m ×2 + 39.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391273 ms (missed cycles : 2). + 39.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391273 ms (missed cycles : 2).[0m ×2 + 40.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.645ms + 40.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.723ms + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388545 ms (missed cycles : 4). + 40.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388545 ms (missed cycles : 4).[0m ×2 + 41.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340050 ms (missed cycles : 2). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340050 ms (missed cycles : 2).[0m ×2 + 42.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.636ms + 42.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.465ms + 42.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082894 ms (missed cycles : 2). + 42.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.082894 ms (missed cycles : 2).[0m ×2 + 43.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.538ms + 43.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779869 ms (missed cycles : 3). + 43.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779869 ms (missed cycles : 3).[0m ×2 + 44.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.217ms + 44.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.175ms + 44.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.789ms + 45.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216070 ms (missed cycles : 2). + 45.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216070 ms (missed cycles : 2).[0m ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216129 ms (missed cycles : 3). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.216129 ms (missed cycles : 3).[0m ×2 + 46.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.498ms + 46.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.604ms + 47.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771530 ms (missed cycles : 3). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771530 ms (missed cycles : 3).[0m ×2 + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918585 ms (missed cycles : 3). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.918585 ms (missed cycles : 3).[0m ×2 + 48.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.462ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029195 ms (missed cycles : 2). + 49.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029195 ms (missed cycles : 2).[0m ×2 + 49.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.788ms + 49.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.591ms + 50.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868626 ms (missed cycles : 5). + 50.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.868626 ms (missed cycles : 5).[0m ×2 + 50.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.299ms + 51.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.695ms + 51.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875444 ms (missed cycles : 6). + 51.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.875444 ms (missed cycles : 6).[0m ×2 + 52.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706398 ms (missed cycles : 2). + 52.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.706398 ms (missed cycles : 2).[0m ×2 + 52.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.227ms + 52.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.944ms + 53.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879406 ms (missed cycles : 2). + 53.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879406 ms (missed cycles : 2).[0m ×2 + 54.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868948 ms (missed cycles : 2). + 54.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868948 ms (missed cycles : 2).[0m ×2 + 55.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.416ms + 55.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.974786 ms (missed cycles : 6). + 55.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.974786 ms (missed cycles : 6).[0m ×2 + 56.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 56.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610065 ms (missed cycles : 3). + 56.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610065 ms (missed cycles : 3).[0m ×2 + 56.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.735ms + 57.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429394 ms (missed cycles : 3). + 57.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429394 ms (missed cycles : 3).[0m ×2 + 58.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.930ms + 58.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.033ms + 58.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395483 ms (missed cycles : 3). + 58.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395483 ms (missed cycles : 3).[0m ×2 + 59.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945159 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945159 ms (missed cycles : 2).[0m ×2 + 59.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.065ms + 60.04sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782411479.15820789 seconds ×3 + 60.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.572ms + 60.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 60.61sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782411479.72881341 seconds. ×3 + 60.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915561 ms (missed cycles : 3). + 60.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915561 ms (missed cycles : 3).[0m ×2 + 60.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 60.95sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 60.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 61.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.851ms + 61.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.483096 ms (missed cycles : 6). + 61.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.483096 ms (missed cycles : 6).[0m ×2 + 62.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.383ms + 62.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 62.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414323 ms (missed cycles : 5). + 62.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414323 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.8s | 183 warnings · 260 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.422ms + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.387ms + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.675ms + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.962ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.986ms + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.039ms + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.728ms ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.205ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.966ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.06sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411284.68207002 seconds ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.122ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.227ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 4.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.66sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411285.24057102 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.524ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.227ms + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.140ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.339ms + 6.53sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.53sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.53sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.53sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.740ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.690ms + 6.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.529ms + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.923ms + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.406ms + 7.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.796ms + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.275ms + 7.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.697ms + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.546ms + 7.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.770ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.911ms + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213760 ms (missed cycles : 6). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.213760 ms (missed cycles : 6).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.912ms + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.984ms + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.931ms + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.672ms + 8.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.686ms + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.722ms + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.887ms + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.837ms + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms ×2 + 9.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511529 ms (missed cycles : 3). + 9.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511529 ms (missed cycles : 3).[0m ×2 + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.065ms + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.212ms + 9.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.358ms + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.541ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.205ms + 9.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.266ms + 9.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.223ms + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.051ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.655ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772701 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772701 ms (missed cycles : 2).[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.189ms + 10.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.415ms + 10.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.502ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.661ms + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 10.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.799ms + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 11.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.782722 ms (missed cycles : 7). + 11.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.782722 ms (missed cycles : 7).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.422ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.954ms + 11.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.006ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.189ms + 12.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514168 ms (missed cycles : 3). + 12.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514168 ms (missed cycles : 3).[0m ×2 + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.713ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.957ms ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744474 ms (missed cycles : 4). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744474 ms (missed cycles : 4).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.534ms + 14.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.797ms + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.070ms + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051840 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.051840 ms (missed cycles : 3).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.093ms + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.199ms + 15.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.960ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849389 ms (missed cycles : 5). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849389 ms (missed cycles : 5).[0m ×2 + 15.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.994ms + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.847ms + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548441 ms (missed cycles : 6). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.548441 ms (missed cycles : 6).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.304ms + 17.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.613ms + 17.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863728 ms (missed cycles : 2). + 17.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863728 ms (missed cycles : 2).[0m ×2 + 18.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.566ms + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515145 ms (missed cycles : 7). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515145 ms (missed cycles : 7).[0m ×2 + 18.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.287ms + 19.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930509 ms (missed cycles : 2). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.930509 ms (missed cycles : 2).[0m ×2 + 19.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.901ms + 20.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.962ms + 20.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.694ms + 20.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.044ms + 20.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270336 ms (missed cycles : 4). + 20.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270336 ms (missed cycles : 4).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.782ms + 21.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.167ms + 21.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 21.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763232 ms (missed cycles : 5). + 21.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.763232 ms (missed cycles : 5).[0m ×2 + 21.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.815ms + 22.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.803ms + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778368 ms (missed cycles : 3). + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.778368 ms (missed cycles : 3).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.260ms + 23.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.964ms + 23.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.556ms + 23.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.094ms + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840938 ms (missed cycles : 2). + 23.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840938 ms (missed cycles : 2).[0m ×2 + 24.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.674ms + 24.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.461ms + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034532 ms (missed cycles : 4). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.034532 ms (missed cycles : 4).[0m ×2 + 25.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.096ms + 25.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.856ms + 25.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025785 ms (missed cycles : 3). + 25.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025785 ms (missed cycles : 3).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.711ms + 26.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.583ms + 27.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167689 ms (missed cycles : 2). + 27.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167689 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.852ms + 27.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.872ms + 28.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.217421 ms (missed cycles : 7). + 28.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.217421 ms (missed cycles : 7).[0m ×2 + 28.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.084ms + 28.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.464ms + 28.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.699ms + 29.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569893 ms (missed cycles : 3). + 29.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.569893 ms (missed cycles : 3).[0m ×2 + 29.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.874ms + 29.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.157ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512736 ms (missed cycles : 6). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.512736 ms (missed cycles : 6).[0m ×2 + 30.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.277ms + 30.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.272ms + 30.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms + 30.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.180ms + 31.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743142 ms (missed cycles : 2). + 31.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.743142 ms (missed cycles : 2).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.829ms + 32.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.968ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300095 ms (missed cycles : 2). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300095 ms (missed cycles : 2).[0m ×2 + 32.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.709ms + 33.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710347 ms (missed cycles : 3). + 33.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710347 ms (missed cycles : 3).[0m ×2 + 33.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.247ms + 33.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.955ms + 34.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070258 ms (missed cycles : 4). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.070258 ms (missed cycles : 4).[0m ×2 + 34.36sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.00sWARNobjective_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 + 35.00sINFOobjective_server_nodePlanning for 57 path waypoints. ×3 + 35.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761268 ms (missed cycles : 2). + 35.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761268 ms (missed cycles : 2).[0m ×2 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256042 ms (missed cycles : 2). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256042 ms (missed cycles : 2).[0m ×2 + 36.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 36.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.443ms + 36.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.911ms + 36.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.973ms + 37.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 37.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475193 ms (missed cycles : 3). + 37.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475193 ms (missed cycles : 3).[0m ×2 + 37.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.899ms + 38.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.446ms + 38.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846449 ms (missed cycles : 2). + 38.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.846449 ms (missed cycles : 2).[0m ×2 + 38.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.760ms + 39.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.915ms + 39.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.599ms + 39.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.332ms + 39.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924370 ms (missed cycles : 2). + 39.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924370 ms (missed cycles : 2).[0m ×2 + 39.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.087ms + 40.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722030 ms (missed cycles : 3). + 40.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722030 ms (missed cycles : 3).[0m ×2 + 40.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.849ms + 41.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631545 ms (missed cycles : 3). + 41.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.631545 ms (missed cycles : 3).[0m ×2 + 41.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.315ms + 41.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.108ms + 42.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821822 ms (missed cycles : 2). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821822 ms (missed cycles : 2).[0m ×2 + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161794 ms (missed cycles : 2). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161794 ms (missed cycles : 2).[0m ×2 + 43.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.647ms + 44.01sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.979ms + 44.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360633 ms (missed cycles : 3). + 44.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360633 ms (missed cycles : 3).[0m ×2 + 45.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.293ms + 45.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134385 ms (missed cycles : 3). + 45.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.134385 ms (missed cycles : 3).[0m ×2 + 45.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.922ms + 46.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.843ms + 46.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.951ms + 46.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832583 ms (missed cycles : 5). + 46.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.832583 ms (missed cycles : 5).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.115ms + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251742 ms (missed cycles : 2). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251742 ms (missed cycles : 2).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.649ms + 48.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.384ms + 48.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200272 ms (missed cycles : 3). + 48.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200272 ms (missed cycles : 3).[0m ×2 + 49.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.013ms + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409554 ms (missed cycles : 3). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409554 ms (missed cycles : 3).[0m ×2 + 50.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.402ms + 50.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819530 ms (missed cycles : 3). + 50.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819530 ms (missed cycles : 3).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.931ms + 51.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.538ms + 51.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 51.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267264 ms (missed cycles : 2). + 51.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267264 ms (missed cycles : 2).[0m ×2 + 52.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.406ms + 52.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637927 ms (missed cycles : 3). + 52.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637927 ms (missed cycles : 3).[0m ×2 + 52.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.074ms + 53.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.822ms + 53.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329996 ms (missed cycles : 2). + 53.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329996 ms (missed cycles : 2).[0m ×2 + 54.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 54.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.755ms + 54.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 54.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.743ms + 54.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144018 ms (missed cycles : 4). + 54.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144018 ms (missed cycles : 4).[0m ×2 + 55.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.216ms + 55.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.178ms + 55.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.560133 ms (missed cycles : 6). + 55.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.560133 ms (missed cycles : 6).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.652ms + 56.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.855ms + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108476 ms (missed cycles : 4). + 57.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108476 ms (missed cycles : 4).[0m ×2 + 57.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782411338.45071959 seconds ×3 + 58.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2). + 58.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2).[0m ×2 + 58.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.636ms + 58.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 58.45sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782411339.01885009 seconds. ×3 + 58.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.496ms + 58.81sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 59.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.377ms + 59.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817292 ms (missed cycles : 2). + 59.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817292 ms (missed cycles : 2).[0m ×2 + 59.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.281ms + 59.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.427ms + 59.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 60.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.953ms + 60.08sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 60.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367694 ms (missed cycles : 2). + 60.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367694 ms (missed cycles : 2).[0m ×2 + 60.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.922ms + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.525ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 165 warnings · 223 info |
+ 0.00sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.03sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.03sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.29sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.29sINFOcontroller_managerLoading controller 'velocity_force_controller' + 0.29sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.29sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.29sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 0.29sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.32sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.32sINFOros2Loaded velocity_force_controller ×2 + 0.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.34sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.34sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 0.71sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.71sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 0.71sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.09sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.10sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.11sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.11sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.11sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.11sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.11sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.11sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.14sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.14sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.14sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.15sINFOplatform_velocity_controller_nav2configure successful + 1.15sINFOros2_control_nodeconfigure successful[0m ×2 + 1.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sINFOros2-13process has finished cleanly [pid 9266] ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×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 + 1.94sWARNobjective_server_nodeNot all Objectives could be registered: ×12 + 1.94sINFOobjective_server_nodeError registering 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 + 1.94sINFOobjective_server_nodeError registering Objective at 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 + 1.94sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.94sINFOmove_groupClearing octomap...[0m ×2 + 1.94sINFOmove_groupOctomap cleared.[0m ×2 + 1.95sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 2.51sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 2.52sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 3.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 3.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 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 + 3.83sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.83sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.83sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.83sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.83sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.85sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.85sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.86sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.86sINFOros2_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 + 3.87sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 4.35sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 4.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 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 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 5.50sWARNobjective_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 + 5.50sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042336 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042336 ms (missed cycles : 2).[0m ×2 + 8.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183787 ms (missed cycles : 4). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.183787 ms (missed cycles : 4).[0m ×2 + 9.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643729 ms (missed cycles : 3). + 9.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.643729 ms (missed cycles : 3).[0m ×2 + 10.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889240 ms (missed cycles : 3). + 10.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.889240 ms (missed cycles : 3).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456822 ms (missed cycles : 6). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.456822 ms (missed cycles : 6).[0m ×2 + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787980 ms (missed cycles : 4). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787980 ms (missed cycles : 4).[0m ×2 + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142464 ms (missed cycles : 4). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.142464 ms (missed cycles : 4).[0m ×2 + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315540 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315540 ms (missed cycles : 2).[0m ×2 + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.547098 ms (missed cycles : 8). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.547098 ms (missed cycles : 8).[0m ×2 + 16.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029309 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029309 ms (missed cycles : 2).[0m ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021475 ms (missed cycles : 2). + 17.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021475 ms (missed cycles : 2).[0m ×2 + 18.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634968 ms (missed cycles : 4). + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.634968 ms (missed cycles : 4).[0m ×2 + 19.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203680 ms (missed cycles : 2). + 19.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.203680 ms (missed cycles : 2).[0m ×2 + 20.66sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 1.989ms + 20.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820525 ms (missed cycles : 3). + 20.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820525 ms (missed cycles : 3).[0m ×2 + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432927 ms (missed cycles : 3). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.432927 ms (missed cycles : 3).[0m ×2 + 22.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979380 ms (missed cycles : 2). + 22.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979380 ms (missed cycles : 2).[0m ×2 + 23.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701525 ms (missed cycles : 2). + 23.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701525 ms (missed cycles : 2).[0m ×2 + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821873 ms (missed cycles : 6). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821873 ms (missed cycles : 6).[0m ×2 + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509974 ms (missed cycles : 4). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509974 ms (missed cycles : 4).[0m ×2 + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242189 ms (missed cycles : 4). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.242189 ms (missed cycles : 4).[0m ×2 + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.526097 ms (missed cycles : 6). + 27.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.526097 ms (missed cycles : 6).[0m ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555178 ms (missed cycles : 3). + 29.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555178 ms (missed cycles : 3).[0m ×2 + 30.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833771 ms (missed cycles : 2). + 30.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833771 ms (missed cycles : 2).[0m ×2 + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779643 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.779643 ms (missed cycles : 2).[0m ×2 + 32.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301319 ms (missed cycles : 2). + 32.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.301319 ms (missed cycles : 2).[0m ×2 + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203592 ms (missed cycles : 3). + 33.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203592 ms (missed cycles : 3).[0m ×2 + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831070 ms (missed cycles : 2). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831070 ms (missed cycles : 2).[0m ×2 + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598632 ms (missed cycles : 3). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598632 ms (missed cycles : 3).[0m ×2 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547013 ms (missed cycles : 3). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.547013 ms (missed cycles : 3).[0m ×2 + 37.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993596 ms (missed cycles : 2). + 37.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993596 ms (missed cycles : 2).[0m ×2 + 38.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789533 ms (missed cycles : 3). + 38.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789533 ms (missed cycles : 3).[0m ×2 + 39.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939190 ms (missed cycles : 2). + 39.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939190 ms (missed cycles : 2).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438749 ms (missed cycles : 3). + 40.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438749 ms (missed cycles : 3).[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278016 ms (missed cycles : 4). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278016 ms (missed cycles : 4).[0m ×2 + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686043 ms (missed cycles : 2). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686043 ms (missed cycles : 2).[0m ×2 + 43.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145721 ms (missed cycles : 7). + 43.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145721 ms (missed cycles : 7).[0m ×2 + 44.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8). + 44.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3). + 46.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3).[0m ×2 + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3).[0m ×2 + 47.36sINFOjoint_trajectory_controllerGoal reached, success! + 47.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411187.60358810 seconds ×3 + 47.54sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 1.930ms + 47.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411188.16553020 seconds. ×3 + 48.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3). + 48.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3).[0m ×2 + 48.34sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 8.169ms + 48.90sINFOobjective_server_nodeFound path in 0 iterations (2.4801e-05 s). ×2 + 48.90sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2). + 49.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2).[0m ×2 + 50.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2). + 50.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 117 warnings · 184 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.678ms ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817585 ms (missed cycles : 5). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817585 ms (missed cycles : 5).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.242ms + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192948 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192948 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms ×2 + 2.89sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.89sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.94sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782411252.82602644 seconds ×3 + 3.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.366ms + 3.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.522ms + 3.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272089 ms (missed cycles : 4). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272089 ms (missed cycles : 4).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.326ms + 3.96sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874805 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874805 ms (missed cycles : 2).[0m ×2 + 4.49sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.50sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.50sINFOobjective_server_nodeError registering 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 + 4.50sINFOobjective_server_nodeError registering Objective at 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 + 4.51sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782411254.39177775 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 + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.584ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.438ms + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.912916 ms (missed cycles : 8). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.912916 ms (missed cycles : 8).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.388ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 6.35sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.40sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.40sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.40sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.40sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099493 ms (missed cycles : 4). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099493 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.557ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.781ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700444 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700444 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.307ms + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.034ms + 8.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.580ms + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.513ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819437 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819437 ms (missed cycles : 2).[0m ×2 + 8.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.671ms + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.975ms + 9.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308538 ms (missed cycles : 3). + 9.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308538 ms (missed cycles : 3).[0m ×2 + 9.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.496ms + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.416ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.305ms + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711986 ms (missed cycles : 3). + 10.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.711986 ms (missed cycles : 3).[0m ×2 + 10.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.586ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.088ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.002153 ms (missed cycles : 6). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.002153 ms (missed cycles : 6).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.051ms + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 12.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.379ms + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280681 ms (missed cycles : 7). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.280681 ms (missed cycles : 7).[0m ×2 + 12.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.364ms + 13.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.327ms + 13.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087943 ms (missed cycles : 2). + 13.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087943 ms (missed cycles : 2).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.755ms + 13.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.990ms + 14.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.342ms + 14.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.633ms + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.127ms + 14.70sINFOros2_control_nodeMuJoCo sim: 0.85% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880949 ms (missed cycles : 3). + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880949 ms (missed cycles : 3).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.264ms + 15.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.060ms + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890510 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890510 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091326 ms (missed cycles : 2). + 16.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091326 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.679ms + 17.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.858ms + 17.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.658ms + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946887 ms (missed cycles : 3). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946887 ms (missed cycles : 3).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.489ms + 18.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.289ms + 18.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.732ms + 18.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 18.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.692ms + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380298 ms (missed cycles : 2). + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.380298 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.466ms + 19.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.134ms + 19.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560850 ms (missed cycles : 4). + 19.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.560850 ms (missed cycles : 4).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.215ms + 20.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.380ms + 20.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.908ms + 20.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.944ms + 20.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799303 ms (missed cycles : 2). + 20.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799303 ms (missed cycles : 2).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms + 21.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.961ms + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.569770 ms (missed cycles : 6). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.569770 ms (missed cycles : 6).[0m ×2 + 22.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.576ms + 22.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.648ms + 22.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.628ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784721 ms (missed cycles : 2). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784721 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.806ms + 23.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.544ms + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850989 ms (missed cycles : 3). + 24.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.850989 ms (missed cycles : 3).[0m ×2 + 24.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.710ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172988 ms (missed cycles : 5). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172988 ms (missed cycles : 5).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.310ms + 25.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.693ms + 25.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.874ms + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152121 ms (missed cycles : 2). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152121 ms (missed cycles : 2).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.009ms + 26.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.251ms + 26.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.649ms + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395586 ms (missed cycles : 4). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.395586 ms (missed cycles : 4).[0m ×2 + 27.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.829ms + 27.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.841ms + 28.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.992ms + 28.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531304 ms (missed cycles : 6). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.531304 ms (missed cycles : 6).[0m ×2 + 28.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.604ms + 28.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.696ms + 29.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.055ms + 29.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.186ms + 29.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.846ms + 29.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.967342 ms (missed cycles : 5). + 29.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.967342 ms (missed cycles : 5).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.430ms + 29.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.376ms + 29.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.966ms + 30.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865531 ms (missed cycles : 3). + 30.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865531 ms (missed cycles : 3).[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.261ms + 30.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.977ms + 30.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 31.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 31.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2). + 31.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2).[0m ×2 + 31.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.422ms + 31.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.387ms + 31.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.675ms + 32.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.962ms + 33.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.986ms + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.039ms + 33.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.728ms ×2 + 33.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 34.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.205ms + 34.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.966ms + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3).[0m ×2 + 34.80sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411284.68207002 seconds ×3 + 34.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 34.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.122ms + 34.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.227ms + 35.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 35.36sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411285.24057102 seconds. ×3 + 35.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3).[0m ×2 + 35.72sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 35.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.524ms + 36.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 36.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.227ms + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4).[0m ×2 + 36.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.140ms + 36.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 36.99sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 37.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.339ms + 37.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 37.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.740ms + 37.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.690ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.9s | 66 warnings · 164 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610065 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.610065 ms (missed cycles : 3).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.735ms + 1.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429394 ms (missed cycles : 3). + 1.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429394 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.930ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.033ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395483 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395483 ms (missed cycles : 3).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945159 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.945159 ms (missed cycles : 2).[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.065ms + 3.64sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.64sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.68sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782411479.15820789 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.572ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.527ms + 4.22sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×3 + 4.23sWARNobjective_server_nodeNot all Objectives could be registered: ×6 + 4.23sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 4.23sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×6 + 4.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782411479.72881341 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915561 ms (missed cycles : 3). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.915561 ms (missed cycles : 3).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.038ms + 4.59sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.851ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.483096 ms (missed cycles : 6). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.483096 ms (missed cycles : 6).[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.383ms + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414323 ms (missed cycles : 5). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414323 ms (missed cycles : 5).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.277ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403481 ms (missed cycles : 4). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403481 ms (missed cycles : 4).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 7.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.151ms + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.878ms + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.500ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552254 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552254 ms (missed cycles : 3).[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.95sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.01sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 9.06sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.10sINFOobjective_server_nodeFound path in 0 iterations (1.05e-06 s). ×2 + 9.22sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.50sINFOobjective_server_nodeFound path in 69 iterations (0.0506193 s). ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007305 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007305 ms (missed cycles : 2).[0m ×2 + 9.71sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________X_____X] ×2 + 9.76sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×2 + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.129ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.792ms + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.639ms + 10.13sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.18sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.895ms + 10.51sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.55sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057886 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057886 ms (missed cycles : 2).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 11.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 11.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330018 ms (missed cycles : 3). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.330018 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.286ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.108ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.480ms + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629747 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629747 ms (missed cycles : 3).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.198ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6).[0m ×2 + 13.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.134ms + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.493ms + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5).[0m ×2 + 15.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.478ms + 15.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2).[0m ×2 + 16.56sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411492.03696918 seconds ×3 + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 16.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.169ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3).[0m ×2 + 17.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 17.15sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411492.62576509 seconds. ×3 + 17.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.15sINFOmove_groupClearing octomap...[0m ×2 + 17.15sINFOmove_groupOctomap cleared.[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.532ms + 17.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.865ms + 17.73sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411493.20692110 seconds ×3 + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2). + 17.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 18.28sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411493.76000381 seconds. ×3 + 18.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.093ms + 18.74sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411494.22019649 seconds ×3 + 18.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.093ms + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3).[0m ×2 + 18.99sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 73 errors · 39 warnings · 401 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.134ms + 0.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.493ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5).[0m ×2 + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.478ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2).[0m ×2 + 2.73sINFOjoint_trajectory_controllerGoal reached, success! + 2.73sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411492.03696918 seconds ×3 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 3.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.169ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3).[0m ×2 + 3.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 3.33sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 3.33sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 3.33sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.33sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 3.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411492.62576509 seconds. ×3 + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.37sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.37sINFOmove_groupClearing octomap...[0m ×2 + 3.37sINFOmove_groupOctomap cleared.[0m ×2 + 3.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.532ms + 3.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.865ms + 3.95sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411493.20692110 seconds ×3 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2). + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 4.50sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411493.76000381 seconds. ×3 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.093ms + 4.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411494.22019649 seconds ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.093ms + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3). + 5.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3).[0m ×2 + 5.21sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.146ms + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807016 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807016 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976865 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.976865 ms (missed cycles : 2).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.440ms + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 8.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.349ms + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330789 ms (missed cycles : 2). + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.330789 ms (missed cycles : 2).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.230ms + 9.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924940 ms (missed cycles : 5). + 9.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.924940 ms (missed cycles : 5).[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.070ms + 10.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.017ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.174208 ms (missed cycles : 7). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.174208 ms (missed cycles : 7).[0m ×2 + 11.02sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.04sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 11.06sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.06sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.07sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 11.09sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 11.14sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 11.17sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 11.19sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.21sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.21sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.23sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.25sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.27sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.27sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.30sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.32sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.33sINFOweb_video_server-30process has finished cleanly [pid 9360] ×2 + 11.34sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.34sINFOcontroller_managerShutdown request received.... + 11.34sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.34sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.34sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.34sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.34sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.34sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.34sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.34sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.34sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.34sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.34sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.34sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.34sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.34sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.35sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9359] ×2 + 11.35sINFOcontroller_managerShutting down the controller manager. + 11.36sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.38sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.38sERRORmove_group-19process has died [pid 9290, 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_xw90x8xo --params-file /tmp/launch_params_ggzqsh5e --params-file /tmp/launch_params_54crdhff --params-file /tmp/launch_params_mdkozx1o --params-file /tmp/launch_params_1q30wp9p --params-file /tmp/launch_params_uefwci50 --params-file /tmp/launch_params_6socxo__ --params-file /tmp/launch_params_733zwbj3 --params-file /tmp/launch_params_3vc5sa5s']. ×2 + 11.40sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.41sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.43sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.45sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.45sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.45sINFOcontroller_serverCleaning up + 11.45sINFOlocal_costmap.local_costmapCleaning up + 11.45sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.45sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.45sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.45sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.45sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.45sINFOui_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 + 11.45sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.45sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.45sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.45sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.45sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.45sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.45sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.45sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.45sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.45sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.45sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.46sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.46sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.46sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.46sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.46sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.46sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.46sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.46sERRORmove_groupStack trace (most recent call last) in thread 9835: ×2 + 11.46sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.46sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.46sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ae7447a63, in __clone ×2 + 11.46sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ae73baaa3, in ×2 + 11.46sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6ae764cdb3, in ×2 + 11.46sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6ae7ca11c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.46sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ae79bf4d0, in rclcpp::Rate::sleep() ×2 + 11.46sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ae7912a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.46sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6ae78d7a71, in ×2 + 11.46sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6ae761b390, in __cxa_throw ×2 + 11.46sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6ae7605a54, in std::terminate() ×2 + 11.46sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6ae761b0d9, in ×2 + 11.46sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6ae7605ff4, in ×2 + 11.46sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ae73468fe, in abort ×2 + 11.46sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ae736327d, in raise ×2 + 11.46sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6ae73bcb2c, in pthread_kill ×2 + 11.46sERRORmove_groupAborted (Signal sent by tkill() 9290 0) ×2 + 11.46sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.46sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.46sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.46sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.46sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.46sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.46sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.46sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.46sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.47sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.47sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.47sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.47sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.47sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.47sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.47sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.47sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.47sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.47sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.47sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.47sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.47sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.47sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.47sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.47sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.47sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 11.47sINFOobjective_server_node[2026-06-25 18:18:20.609] [moveit_pro_license] [info] ×2 + 11.47sINFOobjective_server_node************************************************* ×4 + 11.47sINFOobjective_server_node* MoveIt Pro License ×2 + 11.47sINFOobjective_server_node* Application has successfully terminated ×2 + 11.47sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.47sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.47sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.47sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cda8d746a4, in _start ×2 + 11.47sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f82e9e2428a, in __libc_start_main ×2 + 11.47sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f82e9e241d0, in ×2 + 11.47sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f82e9e41bbd, in exit ×2 + 11.47sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f82e9e41a75, in ×2 + 11.47sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.47sINFOodom_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 + 11.47sINFOodom_qos_relay.pymain() ×2 + 11.47sINFOodom_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 + 11.47sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.47sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.47sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.47sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.47sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.47sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.47sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.47sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.47sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.47sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.48sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f82ea3134a2, in spdlog::details::registry::~registry() ×2 + 11.48sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f82ea31e69d, 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 + 11.48sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f82ea318965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.48sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cda8d7b315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.48sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cda8d7a5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.48sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cda8d76b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.48sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55cda8d74d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.48sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f82ea9ba454, in rclcpp::Node::~Node() ×2 + 11.48sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f82ea975515, in ×2 + 11.48sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f82ea9b8d20, in ×2 + 11.48sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f82ea9b8c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.48sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f82ea9755d9, in ×2 + 11.48sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f82ea97a161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.48sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f82969d7120]) ×2 + 11.48sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 11.48sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.49sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.49sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.49sINFOsmoother_serverCleaning up + 11.50sERRORobjective_server_node_main-24process has died [pid 9337, 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_q5y9f_0h --params-file /tmp/launch_params_ec2popsb --params-file /tmp/launch_params_8f1_t216 --params-file /tmp/launch_params_0p7kdo2k --params-file /tmp/launch_params_0g1_twdr --params-file /tmp/launch_params_e_qd3a5f --params-file /tmp/launch_params_lsg7_3nf --params-file /tmp/launch_params_x68vhi4_ --params-file /tmp/launch_params_eauqbi8u']. ×2 + 11.50sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.51sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.51sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.51sINFOmap_serverDeactivating + 11.51sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.52sINFOmap_serverCleaning up + 11.52sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.52sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.52sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.52sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.52sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.52sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.54sERRORamclThe bond connection to the lifecycle manager has been broken + 11.55sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.55sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.55sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.55sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.55sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.55sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.55sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.56sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.56sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 11.56sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 12.27sERRORui_teleop_bridge-27process has died [pid 9356, 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_6j1c9455']. ×2 + 12.29sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9336] ×2 + 12.29sINFOexecute_objective_bridge-26process has finished cleanly [pid 9355] ×2 + 12.31sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9293] ×2 + 12.36sINFOparameter_manager_node-20process has finished cleanly [pid 9291] ×2 + 12.39sINFOwaypoint_manager_node-21process has finished cleanly [pid 9292] ×2 + 12.41sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9193] ×2 + 12.43sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9192] ×2 + 12.45sINFOstatic_transform_publisher-3process has finished cleanly [pid 9190] ×2 + 12.47sINFOstatic_transform_publisher-2process has finished cleanly [pid 9189] ×2 + 12.48sINFOcomponent_container_mt-25process has finished cleanly [pid 9340] ×2 + 12.50sERRORodom_qos_relay.py-4process has died [pid 9191, 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 + 13.07sERRORcomponent_container_isolated-1process has died [pid 9188, 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_u6cx1u4f --params-file /tmp/launch_params_llc0crf4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.78sINFOweb_bridge-28process has finished cleanly [pid 9358] ×2 + 13.78sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 14.16sINFOros2_control_node-7process has finished cleanly [pid 9194] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 60 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329996 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329996 ms (missed cycles : 2).[0m ×2 + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.784ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.957ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.755ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 0.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 16.743ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144018 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144018 ms (missed cycles : 4).[0m ×2 + 1.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.216ms + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.178ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.560133 ms (missed cycles : 6). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.560133 ms (missed cycles : 6).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.652ms + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.855ms + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108476 ms (missed cycles : 4). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.108476 ms (missed cycles : 4).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782411338.45071959 seconds ×3 + 4.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161637 ms (missed cycles : 2).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.636ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.053ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.54sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782411339.01885009 seconds. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.496ms + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×4 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.377ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817292 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817292 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.281ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.427ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.953ms + 6.17sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367694 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367694 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.922ms + 6.21sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.21sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.21sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.21sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.525ms + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.786ms + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011052 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.011052 ms (missed cycles : 4).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.641ms + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911048 ms (missed cycles : 2). + 8.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.911048 ms (missed cycles : 2).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.148ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521449 ms (missed cycles : 2). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521449 ms (missed cycles : 2).[0m ×2 + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.873ms + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.092ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.951ms + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.874ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069779 ms (missed cycles : 4). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.069779 ms (missed cycles : 4).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.222ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498757 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498757 ms (missed cycles : 3).[0m ×2 + 11.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.475ms + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.575ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.058ms + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254187 ms (missed cycles : 3). + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254187 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.217ms + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126479 ms (missed cycles : 4). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126479 ms (missed cycles : 4).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.343ms + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.409ms + 14.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234868 ms (missed cycles : 2). + 14.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234868 ms (missed cycles : 2).[0m ×2 + 14.74sINFOjoint_trajectory_controllerGot request to cancel goal + 14.74sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.74sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.74sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.78sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782411349.25739169 seconds ×3 + 14.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.841ms + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.109ms + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.239ms + 15.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782411349.81510115 seconds. ×3 + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146415 ms (missed cycles : 4). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.146415 ms (missed cycles : 4).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.547ms + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.839ms + 16.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 16.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.263ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932366 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932366 ms (missed cycles : 2).[0m ×2 + 16.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.570ms + 16.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.393ms + 16.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.430ms + 17.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.758ms + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861458 ms (missed cycles : 5). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.861458 ms (missed cycles : 5).[0m ×2 + 17.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.615ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 42 warnings · 90 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411248.14177418 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.72sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.418ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.15sINFOobjective_server_nodeError registering 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 + 4.16sINFOobjective_server_nodeError registering Objective at 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 + 4.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411248.71587253 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.62sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.62sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.308ms + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 6.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.678ms + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817585 ms (missed cycles : 5). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.817585 ms (missed cycles : 5).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.242ms + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192948 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192948 ms (missed cycles : 3).[0m ×2 + 8.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 8.27sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782411252.82602644 seconds ×3 + 8.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.754ms + 8.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.366ms + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.522ms + 8.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272089 ms (missed cycles : 4). + 8.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.272089 ms (missed cycles : 4).[0m ×2 + 8.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.326ms + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874805 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874805 ms (missed cycles : 2).[0m ×2 + 9.84sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782411254.39177775 seconds. ×3 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 10.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.584ms + 10.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.438ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.912916 ms (missed cycles : 8). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.912916 ms (missed cycles : 8).[0m ×2 + 10.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.388ms + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.315ms + 11.67sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099493 ms (missed cycles : 4). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099493 ms (missed cycles : 4).[0m ×2 + 11.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.557ms + 11.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.781ms + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.312ms | ||||
| ✓ 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 10.145721 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145721 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.53sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411187.60358810 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 1.930ms + 4.11sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.11sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411188.16553020 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 8.169ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4801e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2).[0m ×2 + 7.20sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411191.25575948 seconds ×3 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044554 ms (missed cycles : 2). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044554 ms (missed cycles : 2).[0m ×2 + 7.41sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.621ms + 7.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411191.81161690 seconds. ×3 + 8.11sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.12sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 4.420ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485889 ms (missed cycles : 2). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485889 ms (missed cycles : 2).[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696536 ms (missed cycles : 2). + 9.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696536 ms (missed cycles : 2).[0m ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.2s | 30 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.286ms + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.108ms + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.480ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629747 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629747 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.198ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.134ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.493ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.478ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411492.03696918 seconds ×3 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.169ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.60sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411492.62576509 seconds. ×3 + 4.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.65sINFOmove_groupClearing octomap...[0m ×2 + 4.65sINFOmove_groupOctomap cleared.[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.532ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.865ms + 5.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411493.20692110 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2). + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411493.76000381 seconds. ×3 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.093ms + 6.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411494.22019649 seconds ×3 + 6.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.093ms + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3).[0m ×2 + 6.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.146ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807016 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807016 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 39 warnings · 281 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 9288] ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.82sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-8process has finished cleanly [pid 9195] ×2 + 1.25sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.25sINFOros2Loaded vacuum_gripper ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.27sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.27sINFOros2Configured and activated vacuum_gripper ×2 + 1.61sINFOros2-12process has finished cleanly [pid 9265] ×2 + 1.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.71sINFOros2Loaded platform_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.72sINFOplatform_velocity_controllerconfigure successful + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 2.09sINFOros2-11process has finished cleanly [pid 9264] ×2 + 2.12sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 2.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.41sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.41sINFOros2Loaded velocity_force_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sINFOros2-15process has finished cleanly [pid 9268] ×2 + 3.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 3.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 3.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 4.03sINFOobjective_server_nodeError registering 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 + 4.03sINFOobjective_server_nodeError registering Objective at 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 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411248.14177418 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.418ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.15sINFOobjective_server_nodeError registering 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 + 4.16sINFOobjective_server_nodeError registering Objective at 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 + 4.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411248.71587253 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.308ms + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 6.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411248.14177418 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.418ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.15sINFOobjective_server_nodeError registering 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 + 4.16sINFOobjective_server_nodeError registering Objective at 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 + 4.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411248.71587253 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.308ms + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 6.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 39 warnings · 281 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 9288] ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.82sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-8process has finished cleanly [pid 9195] ×2 + 1.25sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.25sINFOros2Loaded vacuum_gripper ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.27sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.27sINFOros2Configured and activated vacuum_gripper ×2 + 1.61sINFOros2-12process has finished cleanly [pid 9265] ×2 + 1.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.71sINFOros2Loaded platform_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.72sINFOplatform_velocity_controllerconfigure successful + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 2.09sINFOros2-11process has finished cleanly [pid 9264] ×2 + 2.12sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 2.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.41sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.41sINFOros2Loaded velocity_force_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sINFOros2-15process has finished cleanly [pid 9268] ×2 + 3.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 3.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 3.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 4.03sINFOobjective_server_nodeError registering 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 + 4.03sINFOobjective_server_nodeError registering Objective at 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 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 39 warnings · 281 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 9288] ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.82sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-8process has finished cleanly [pid 9195] ×2 + 1.25sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.25sINFOros2Loaded vacuum_gripper ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.27sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.27sINFOros2Configured and activated vacuum_gripper ×2 + 1.61sINFOros2-12process has finished cleanly [pid 9265] ×2 + 1.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.71sINFOros2Loaded platform_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.72sINFOplatform_velocity_controllerconfigure successful + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 2.09sINFOros2-11process has finished cleanly [pid 9264] ×2 + 2.12sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 2.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.41sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.41sINFOros2Loaded velocity_force_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sINFOros2-15process has finished cleanly [pid 9268] ×2 + 3.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 3.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 3.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 4.03sINFOobjective_server_nodeError registering 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 + 4.03sINFOobjective_server_nodeError registering Objective at 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 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 27 warnings · 58 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.286ms + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.108ms + 0.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.480ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629747 ms (missed cycles : 3). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.629747 ms (missed cycles : 3).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.198ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513898 ms (missed cycles : 6).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.134ms + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.493ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.694013 ms (missed cycles : 5).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.478ms + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105914 ms (missed cycles : 2).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782411492.03696918 seconds ×3 + 4.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.278ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.169ms + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454213 ms (missed cycles : 3).[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 4.60sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.60sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 4.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.61sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×4 + 4.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782411492.62576509 seconds. ×3 + 4.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.65sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.65sINFOmove_groupClearing octomap...[0m ×2 + 4.65sINFOmove_groupOctomap cleared.[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.532ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.865ms + 5.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782411493.20692110 seconds ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2). + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.477334 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 5.78sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782411493.76000381 seconds. ×3 + 5.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.093ms + 6.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782411494.22019649 seconds ×3 + 6.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.093ms + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044478 ms (missed cycles : 3).[0m ×2 + 6.48sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 24 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145721 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145721 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411187.60358810 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 1.930ms + 4.11sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.11sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411188.16553020 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 8.169ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4801e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 24 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145721 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145721 ms (missed cycles : 7).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.022476 ms (missed cycles : 8).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328221 ms (missed cycles : 3).[0m ×2 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3).[0m ×2 + 3.53sINFOjoint_trajectory_controllerGoal reached, success! + 3.53sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411187.60358810 seconds ×3 + 3.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.71sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 1.930ms + 4.11sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.11sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.11sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.11sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411188.16553020 seconds. ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 8.169ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (2.4801e-05 s). ×2 + 5.07sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.09sINFOjoint_trajectory_controllerReceived new action goal + 5.09sINFOjoint_trajectory_controllerAccepted new action goal + 5.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2).[0m ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2).[0m ×2 | ||||
| − 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 4.362805 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362805 ms (missed cycles : 3).[0m ×2 + 0.27sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.30sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411187.60358810 seconds ×3 + 0.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.46sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 1.930ms + 0.85sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 0.85sWARNobjective_server_nodeNot all Objectives could be registered: ×4 + 0.86sINFOobjective_server_nodeError registering 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 + 0.86sINFOobjective_server_nodeError registering Objective at 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 + 0.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411188.16553020 seconds. ×3 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.714959 ms (missed cycles : 3).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 8.169ms + 1.81sINFOobjective_server_nodeFound path in 0 iterations (2.4801e-05 s). ×2 + 1.82sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.82sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.84sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.84sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.84sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.84sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508856 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087091 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411191.25575948 seconds ×3 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044554 ms (missed cycles : 2). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044554 ms (missed cycles : 2).[0m ×2 + 4.16sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.621ms + 4.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411191.81161690 seconds. ×3 + 4.85sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.86sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 4.420ms + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485889 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485889 ms (missed cycles : 2).[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696536 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696536 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411248.14177418 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.418ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.15sINFOobjective_server_nodeError registering 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 + 4.16sINFOobjective_server_nodeError registering Objective at 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 + 4.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411248.71587253 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.308ms + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 6.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411248.14177418 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.418ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.15sINFOobjective_server_nodeError registering 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 + 4.16sINFOobjective_server_nodeError registering Objective at 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 + 4.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411248.71587253 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.308ms + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 6.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 43 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016307 ms (missed cycles : 4).[0m ×2 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818731 ms (missed cycles : 3).[0m ×2 + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.580179 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.222076 ms (missed cycles : 5).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! + 3.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.59sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411248.14177418 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.72sINFOamclParticle filter update iteration stats: 1597 particles 723 points - 1.418ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.835ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.270ms + 4.15sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.15sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.15sINFOobjective_server_nodeError registering 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 + 4.16sINFOobjective_server_nodeError registering Objective at 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 + 4.16sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411248.71587253 seconds. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.257707 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.60sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.62sINFOjoint_trajectory_controllerReceived new action goal + 4.62sINFOjoint_trajectory_controllerAccepted new action goal + 4.62sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.308ms + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.143ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982642 ms (missed cycles : 5).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.665ms + 6.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.435ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 24 warnings · 64 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.422ms + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.387ms + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.675ms + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.962ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.986ms + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.039ms + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.728ms ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.205ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.966ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411284.68207002 seconds ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.122ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.227ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 4.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.66sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411285.24057102 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.524ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.227ms + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.140ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.339ms + 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 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.740ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.690ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 24 warnings · 64 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.422ms + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.387ms + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.675ms + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.962ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.986ms + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.039ms + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.728ms ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.205ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.966ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411284.68207002 seconds ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.122ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.227ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 4.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.66sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411285.24057102 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.524ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.227ms + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.140ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.339ms + 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 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.740ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.690ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 24 warnings · 64 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.573ms + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.751868 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.422ms + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.387ms + 0.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.675ms + 1.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274705 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.962ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.986ms + 2.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4). + 2.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061784 ms (missed cycles : 4).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.039ms + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.728ms ×2 + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.205ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.966ms + 3.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3). + 3.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793636 ms (missed cycles : 3).[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782411284.68207002 seconds ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 4.12sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.122ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.227ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.723ms + 4.66sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.66sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.66sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782411285.24057102 seconds. ×3 + 4.70sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.457ms + 4.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3). + 4.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803822 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.473ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.524ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.870ms + 5.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.227ms + 5.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115940 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.140ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.339ms + 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 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.473ms + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.740ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.116ms + 6.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4). + 6.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.835614 ms (missed cycles : 4).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.690ms | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 24 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.902440 ms (missed cycles : 5).[0m ×2 + 0.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.775967 ms (missed cycles : 6).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 1.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 1.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.154ms + 1.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.359ms + 2.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.323662 ms (missed cycles : 3).[0m ×2 + 3.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.432ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427750 ms (missed cycles : 3).[0m ×2 + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 3.95sINFOjoint_trajectory_controllerGoal reached, success! + 3.95sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782411423.08528900 seconds ×3 + 3.99sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566983 ms (missed cycles : 3).[0m ×2 + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.241ms + 4.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.926ms + 4.53sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose + 4.53sWARNobjective_server_nodeNot all Objectives could be registered: ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeError registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×2 + 4.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782411423.64803791 seconds. ×3 + 4.60sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.60sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.996ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.757467 ms (missed cycles : 3).[0m ×2 + 5.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.367ms + 5.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.252ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.888ms + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.265ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869886 ms (missed cycles : 3).[0m ×2 + 6.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.362ms + 6.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.183ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 26.9s | 15 errors · 315 warnings · 1114 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/2026-06-25-18-11-55-238354-9bced234bc45-9139 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.14sINFOstatic_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' + 13.14sINFOstatic_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' + 13.23sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.24sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.25sINFOcontroller_managerupdate rate is 600 Hz + 13.25sINFOcontroller_managerOverruns handling is : enabled + 13.25sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.25sWARNcontroller_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. + 13.25sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.30sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.30sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.34sINFOcontroller_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. + 13.41sINFOcontroller_serverCreating controller server + 13.43sINFOlocal_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. + 13.44sINFOlocal_costmap.local_costmapCreating Costmap + 13.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924551 ms (missed cycles : 4). + 13.47sINFOros2_control_node-7process started with pid [9194] ×2 + 13.47sINFOmove_group-19process started with pid [9290] ×2 + 13.47sINFOparameter_manager_node-20process started with pid [9291] ×2 + 13.47sINFOwaypoint_manager_node-21process started with pid [9292] ×2 + 13.47sINFOmove_joint_resampler_node-22process started with pid [9293] ×2 + 13.47sINFOmove_end_effector_resampler_node-23process started with pid [9336] ×2 + 13.47sINFOobjective_server_node_main-24process started with pid [9337] ×2 + 13.47sINFOcomponent_container_mt-25process started with pid [9340] ×2 + 13.47sINFOexecute_objective_bridge-26process started with pid [9355] ×2 + 13.47sINFOui_teleop_bridge-27process started with pid [9356] ×2 + 13.47sINFOweb_bridge-28process started with pid [9358] ×2 + 13.47sINFOtf2_web_republisher_node-29process started with pid [9359] ×2 + 13.47sINFOweb_video_server-30process started with pid [9360] ×2 + 13.49sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.49sINFOcomponent_container_isolated-1process started with pid [9188] ×2 + 13.49sINFOstatic_transform_publisher-2process started with pid [9189] ×2 + 13.49sINFOstatic_transform_publisher-3process started with pid [9190] ×2 + 13.49sINFOodom_qos_relay.py-4process started with pid [9191] ×2 + 13.49sINFOscan_to_scan_filter_chain-5process started with pid [9192] ×2 + 13.49sINFOscan_to_scan_filter_chain-6process started with pid [9193] ×2 + 13.49sINFOros2-8process started with pid [9195] ×2 + 13.49sINFOros2-9process started with pid [9262] ×2 + 13.49sINFOros2-10process started with pid [9263] ×2 + 13.49sINFOros2-11process started with pid [9264] ×2 + 13.49sINFOros2-12process started with pid [9265] ×2 + 13.49sINFOros2-13process started with pid [9266] ×2 + 13.49sINFOros2-14process started with pid [9267] ×2 + 13.49sINFOros2-15process started with pid [9268] ×2 + 13.49sINFOros2-16process started with pid [9271] ×2 + 13.49sINFOros2-17process started with pid [9288] ×2 + 13.49sINFOros2-18process started with pid [9289] ×2 + 13.50sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 13.54sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.55sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.55sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.55sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 13.55sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.55sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.56sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.56sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 13.56sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 13.56sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.56sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.56sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.56sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.56sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.56sWARNros2_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 + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.924551 ms (missed cycles : 4).[0m ×2 + 13.57sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.57sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.58sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.59sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.61sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.61sINFOsmoother_serverCreating smoother server + 13.61sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.62sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.71sINFOrobot_state_publisherRobot initialized + 13.71sINFOmap_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. + 13.71sINFOmap_serverCreating + 13.71sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.71sINFOcontroller_managerReceived robot description from topic. + 13.71sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.71sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.72sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.72sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.72sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.73sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.74sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.76sINFOplanner_serverCreating + 13.76sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.77sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.78sINFOglobal_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. + 13.79sINFOglobal_costmap.global_costmapCreating Costmap + 13.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.83sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.83sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.84sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.84sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 13.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.89sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 13.92sINFObehavior_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. + 13.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.94sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 13.96sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.96sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.96sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 13.99sINFOlifecycle_manager_localizationCreating + 14.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.02sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 14.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 14.02sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 14.02sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 14.03sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 14.03sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 14.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.05sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.05sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.05sINFOmap_serverConfiguring + 14.08sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.11sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.11sINFOamclConfiguring + 14.12sINFObt_navigatorCreating + 14.12sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.12sINFOmap_serverActivating + 14.12sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.13sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.13sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.14sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.14sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.15sWARNlaser_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. + 14.15sWARNlaser_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. + 14.16sWARNscan_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 + 14.16sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.17sINFOwaypoint_followerCreating + 14.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.18sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.18sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.21sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.23sINFOlifecycle_manager_navigationCreating + 14.23sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.23sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.23sINFOamclActivating + 14.23sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.24sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.25sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.26sINFOamclSubscribed to map_topic: /map + 14.26sINFOamclSubscribed to scan_topic: /scan_merged + 14.27sINFOamclCreated reinitialize_global_localization service + 14.27sINFOamclCreated request_nomotion_update service + 14.27sINFOamclA new map was received + 14.27sINFOamclInitializing particle filter instance + 14.28sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.28sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.28sINFOcontroller_serverConfiguring controller interface + 14.28sINFOcontroller_servergetting progress checker plugins.. + 14.28sINFOcontroller_servergetting goal checker plugins.. + 14.28sINFOcontroller_serverController frequency set to 20.0000Hz + 14.28sINFOlocal_costmap.local_costmapConfiguring + 14.28sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.29sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.34sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.34sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.34sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.38sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.39sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.39sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.40sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.41sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.469923 seconds + 14.41sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.41sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.41sINFOmove_groupLoaded robot model in 0.469923 seconds[0m ×2 + 14.41sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.41sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.41sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.43sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.45sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.45sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.46sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.46sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.47sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.47sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.48sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.48sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.49sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.49sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.50sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.51sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.51sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.52sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.52sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.52sINFOcontroller_serverOptimizer reset + 14.53sINFOcontroller_serverController Server has FollowPath controllers available. + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.730321 ms (missed cycles : 12). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 18.730321 ms (missed cycles : 12).[0m ×2 + 14.54sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.54sINFOsmoother_serverConfiguring smoother server + 14.56sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.56sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.57sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.57sINFOplanner_serverConfiguring + 14.57sINFOglobal_costmap.global_costmapConfiguring + 14.59sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.60sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.60sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.60sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.61sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.61sINFOamclParticle filter initialization completed + 14.61sINFOamclInitializing particles from estimated pose and covariance + 14.61sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 14.63sINFOlifecycle_manager_localizationServer amcl connected with bond. + 14.63sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 14.63sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 14.65sINFOwaypoint_manager_nodeLoaded robot model in 0.336387 seconds[0m ×2 + 14.65sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 14.65sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.66sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.66sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.67sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.71sFATALplanner_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 + 14.71sINFOplanner_serverCleaning up + 14.71sINFOglobal_costmap.global_costmapCleaning up + 14.71sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.72sINFOamclThe bond connection to the lifecycle manager is now fully formed + 14.78sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.78sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.98sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.99sWARNmove_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. + 14.99sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.99sWARNmove_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. + 14.99sWARNmove_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. + 14.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.01sWARNmove_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 + 15.17sINFOspawner_arm_only_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 15.17sINFOros2waiting for service /controller_manager/list_controllers to become available... ×8 + 15.20sWARNwaypoint_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. + 15.20sWARNwaypoint_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 + 15.20sWARNwaypoint_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. + 15.21sWARNwaypoint_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. + 15.22sWARNwaypoint_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. + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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. + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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 + 15.22sWARNwaypoint_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. + 15.22sWARNwaypoint_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. + 15.23sWARNwaypoint_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 + 15.23sWARNwaypoint_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. + 15.24sWARNwaypoint_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. + 15.24sWARNwaypoint_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 + 15.24sWARNwaypoint_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 + 15.24sWARNwaypoint_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 + 15.24sWARNwaypoint_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 + 15.24sWARNwaypoint_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. + 15.25sWARNwaypoint_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. + 15.25sWARNwaypoint_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. + 15.25sWARNwaypoint_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 + 15.25sWARNwaypoint_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 + 15.25sWARNwaypoint_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 + 15.25sWARNwaypoint_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. + 15.25sWARNwaypoint_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. + 15.25sWARNwaypoint_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. + 15.25sWARNwaypoint_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 + 15.26sWARNwaypoint_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. + 15.26sWARNwaypoint_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 + 15.26sWARNwaypoint_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. + 15.26sWARNwaypoint_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. + 15.26sWARNwaypoint_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. + 15.26sWARNwaypoint_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. + 15.26sWARNwaypoint_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. + 15.26sWARNwaypoint_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. + 15.27sWARNwaypoint_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. + 15.27sWARNwaypoint_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. + 15.27sWARNwaypoint_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. + 15.27sWARNwaypoint_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. + 15.27sWARNwaypoint_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. + 15.27sWARNwaypoint_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. + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.28sWARNwaypoint_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 + 15.49sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.49sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.49sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.49sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.56sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.56sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.56sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.56sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.56sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.56sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.56sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.56sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.56sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.56sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.56sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.56sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.56sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.57sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.57sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.57sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.57sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.57sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.57sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.57sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.69sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 15.69sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.70sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.12sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.12sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.12sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.12sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.12sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.12sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.12sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.12sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.12sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.12sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.12sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.12sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.12sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.12sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.12sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.12sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.12sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.12sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.12sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.12sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.12sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.12sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.12sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673994 ms (missed cycles : 2). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673994 ms (missed cycles : 2).[0m ×2 + 16.15sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.15sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.15sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 16.18sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.18sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 16.18sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.18sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 16.36sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.996ms + 16.38sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 16.38sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 16.41sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 16.41sINFOros2Loaded arm_only_velocity_force_controller ×2 + 16.41sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 16.41sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.43sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.43sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.46sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.46sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.49sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.69sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.69sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.70sWARNcomponent_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 + 16.74sINFOobjective_server_node[2026-06-25 18:12:15.145] [moveit_pro_license] [info] ×2 + 16.74sINFOobjective_server_node************************************************* ×4 + 16.74sINFOobjective_server_node* MoveIt Pro License ×2 + 16.74sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.80sINFOros2_control_node[2026-06-25 18:12:15.208] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.81sINFOros2_control_node[2026-06-25 18:12:15.214] [info] Controller state will be published at 10 Hz. ×2 + 16.81sINFOros2_control_node[2026-06-25 18:12:15.216] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.84sINFOobjective_server_nodeLoaded robot model in 0.0283686 seconds[0m ×2 + 16.84sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.84sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.14sINFOros2-16process has finished cleanly [pid 9271] ×2 + 17.14sINFOcomponent_container_mtLoaded robot model in 0.439624 seconds[0m ×2 + 17.14sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.14sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 17.17sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.17sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.17sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.17sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.17sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 17.17sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 17.20sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 17.20sINFOros2Loaded imu_sensor_broadcaster ×2 + 17.20sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.20sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.20sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.20sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.20sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.21sINFOcontroller_managerSuccessfully switched controllers! ×8 + 17.21sWARNobjective_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. + 17.21sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.21sWARNobjective_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. + 17.21sWARNobjective_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. + 17.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 17.21sWARNobjective_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. + 17.21sWARNobjective_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 + 17.21sWARNobjective_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 + 17.21sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 17.21sWARNobjective_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. + 17.21sWARNobjective_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 + 17.21sWARNobjective_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. + 17.21sWARNobjective_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 + 17.21sWARNobjective_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. + 17.21sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 17.21sWARNobjective_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. + 17.21sWARNobjective_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. + 17.21sWARNobjective_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. + 17.21sWARNobjective_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 + 17.21sWARNobjective_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 + 17.21sWARNobjective_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 + 17.21sWARNobjective_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 + 17.22sWARNobjective_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 + 17.22sWARNobjective_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 + 17.27sINFOobjective_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 + 17.27sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.30sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.30sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.30sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.30sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.30sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.30sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.30sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828306 ms (missed cycles : 2). + 17.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828306 ms (missed cycles : 2).[0m ×2 + 17.53sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_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 + 17.53sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_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 + 17.53sWARNcomponent_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 + 17.53sWARNplanning_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. + 17.53sWARNcomponent_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 + 17.53sWARNplanning_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. + 17.53sWARNcomponent_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 + 17.53sWARNcomponent_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 + 17.53sWARNplanning_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. + 17.53sWARNcomponent_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 + 17.53sWARNplanning_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. + 17.53sWARNcomponent_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 + 17.53sWARNplanning_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. + 17.53sWARNplanning_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. + 17.53sWARNcomponent_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 + 17.53sWARNplanning_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. + 17.54sWARNplanning_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. + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.54sWARNplanning_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. + 17.54sWARNcomponent_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 + 17.54sWARNplanning_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. + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.54sWARNplanning_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. + 17.54sWARNplanning_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. + 17.54sWARNcomponent_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 + 17.54sWARNcomponent_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 + 17.54sWARNplanning_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. + 17.54sWARNcomponent_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 + 17.54sWARNplanning_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. + 17.54sWARNcomponent_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 + 17.55sWARNplanning_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. + 17.55sWARNcomponent_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 + 17.55sWARNplanning_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. + 17.55sWARNcomponent_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 + 17.55sWARNplanning_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. + 17.55sWARNplanning_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. + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNplanning_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. + 17.55sWARNplanning_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. + 17.55sWARNcomponent_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 + 17.55sWARNplanning_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. + 17.55sWARNplanning_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. + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNplanning_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. + 17.55sWARNplanning_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. + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.55sWARNcomponent_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 + 17.67sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 17.67sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 17.68sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 17.68sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 17.68sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 17.68sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 17.71sINFOros2-9process has finished cleanly [pid 9262] ×2 + 17.73sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.74sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.80sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 17.80sINFOros2Loaded joint_trajectory_controller ×2 + 17.80sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 17.80sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 17.80sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 17.80sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 17.80sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 17.81sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 17.81sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 17.81sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 17.81sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 17.81sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 17.81sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 17.81sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 17.81sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 17.96sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 17.96sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 17.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 17.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.15sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1782411135.456 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.17sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.17sINFOros2-14process has finished cleanly [pid 9267] ×2 + 18.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 18.20sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.20sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.20sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.20sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.20sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 18.20sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 18.28sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 18.28sINFOros2Loaded joint_state_broadcaster ×2 + 18.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.29sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 18.29sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 18.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.30sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.30sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 18.30sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 18.32sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.32sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.32sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 18.33sINFOros2Configured and activated joint_state_broadcaster ×2 + 18.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944634 ms (missed cycles : 2). + 18.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.944634 ms (missed cycles : 2).[0m ×2 + 18.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.43sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.44sINFOcomponent_container_mtStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.44sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.44sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.44sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.44sINFOstreaming_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) + 18.44sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.44sINFOcomponent_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 + 18.47sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 18.47sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 18.57sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 18.57sINFOmove_groupMoveGroup debug mode is ON + 18.57sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 18.57sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.58sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.63sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.63sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 18.71sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.71sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.71sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.71sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.71sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.72sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.78sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.79sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.79sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.79sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.79sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.81sINFOros2-10process has finished cleanly [pid 9263] ×2 + 18.83sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.88sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 18.88sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 18.89sINFOmove_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
********************************************************
+ 18.89sINFOmove_group ×8 + 18.89sINFOmove_group******************************************************** ×4 + 18.89sINFOmove_group* MoveGroup using: ×2 + 18.89sINFOmove_group* - apply_planning_scene_service ×2 + 18.89sINFOmove_group* - clear_octomap_service ×2 + 18.89sINFOmove_group* - ExecuteTaskSolution ×2 + 18.90sINFOmove_group* - get_group_urdf ×2 + 18.90sINFOmove_group* - load_geometry_from_file ×2 + 18.90sINFOmove_group* - get_planning_scene_service ×2 + 18.90sINFOmove_group* - kinematics_service ×2 + 18.90sINFOmove_group* - save_geometry_to_file ×2 + 18.90sINFOmove_group* - GetPlanningGroups ×2 + 18.90sINFOmove_group* - SetActiveControllerService ×2 + 18.90sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.90sINFOmove_group[0m ×2 + 18.90sINFOmove_group[92mYou can start planning now![0m ×2 + 18.96sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 18.96sINFOros2Loaded joint_velocity_controller ×2 + 18.96sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.96sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.34sINFOros2_control_node[2026-06-25 18:12:17.752] [info] Controller state will be published at 20 Hz. ×2 + 19.34sINFOros2_control_node[2026-06-25 18:12:17.753] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338388 ms (missed cycles : 3). + 19.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.338388 ms (missed cycles : 3).[0m ×2 + 19.41sWARNobjective_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 + 19.45sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.68sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.68sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.68sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.68sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.68sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 19.68sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 19.72sINFOros2-17process has finished cleanly [pid 9288] ×2 + 19.75sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 19.75sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 19.77sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.77sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.15sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 20.15sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 20.49sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.49sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.49sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.49sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.49sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 20.49sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 20.54sINFOros2-18process has finished cleanly [pid 9289] ×2 + 20.57sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 20.57sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 20.57sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.57sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.58sINFOforce_torque_sensor_broadcasterconfigure successful + 20.58sINFOros2_control_nodeconfigure successful[0m ×6 + 20.59sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.59sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.59sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 20.59sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 20.91sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 20.91sINFOcontroller_managerLoading controller 'vacuum_gripper' + 20.91sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 20.91sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 20.91sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 20.91sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 20.93sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 20.93sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 20.94sINFOros2-8process has finished cleanly [pid 9195] ×2 + 20.97sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 20.97sINFOros2Loaded vacuum_gripper ×2 + 20.97sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 20.97sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 20.98sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 20.98sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 20.98sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 20.98sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 20.99sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 20.99sINFOros2Configured and activated vacuum_gripper ×2 + 21.34sINFOros2-12process has finished cleanly [pid 9265] ×2 + 21.34sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.34sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.34sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.34sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.35sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 21.35sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 21.43sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 21.43sINFOros2Loaded platform_velocity_controller ×2 + 21.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 21.44sINFOplatform_velocity_controllerconfigure successful + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 21.45sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.45sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.46sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 21.46sINFOros2Configured and activated platform_velocity_controller ×2 + 21.81sINFOros2-11process has finished cleanly [pid 9264] ×2 + 21.84sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.10sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.10sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.10sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 22.10sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.10sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.10sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 22.13sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 22.13sINFOros2Loaded velocity_force_controller ×2 + 22.13sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.13sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 22.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 22.52sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.52sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 22.52sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.90sINFOros2-15process has finished cleanly [pid 9268] ×2 + 22.91sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 22.92sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 22.92sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 22.92sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 22.92sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 22.92sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 22.92sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 22.95sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 22.95sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 22.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 22.96sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 22.96sINFOplatform_velocity_controller_nav2configure successful + 23.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 23.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 23.26sINFOros2-13process has finished cleanly [pid 9266] ×2 + 23.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 23.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 23.74sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 23.75sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 23.75sINFOobjective_server_nodeError registering 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 + 23.75sINFOobjective_server_nodeError registering Objective at 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 + 23.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 23.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.75sINFOmove_groupClearing octomap...[0m ×2 + 23.75sINFOmove_groupOctomap cleared.[0m ×2 + 23.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 24.32sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 24.33sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 24.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 24.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 24.89sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 25.04sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 25.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 25.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 25.64sINFOobjective_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 + 25.64sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.64sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.64sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.64sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 25.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.66sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.67sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.67sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.67sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.67sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 26.16sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 26.24sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 26.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 26.25sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 26.25sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 26.25sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 26.25sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 26.25sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 26.25sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 45 warnings · 274 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.10sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.14sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×6 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.46sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.46sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.47sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.47sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.49sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 9195] ×2 + 0.53sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.53sINFOros2Loaded vacuum_gripper ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.53sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.55sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.55sINFOros2Configured and activated vacuum_gripper ×2 + 0.90sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.90sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.99sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.99sINFOros2Loaded platform_velocity_controller ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.00sINFOplatform_velocity_controllerconfigure successful + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.02sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.02sINFOros2Configured and activated platform_velocity_controller ×2 + 1.37sINFOros2-11process has finished cleanly [pid 9264] ×2 + 1.40sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.40sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.66sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.66sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.66sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.69sINFOros2Loaded velocity_force_controller ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.08sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.08sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.08sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.46sINFOros2-15process has finished cleanly [pid 9268] ×2 + 2.47sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 2.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.48sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.48sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.48sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.48sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.51sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.51sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 3.30sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 3.31sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.31sINFOobjective_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 ×10 + 3.31sINFOobjective_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 ×10 + 3.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.31sINFOmove_groupClearing octomap...[0m ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.20sINFOobjective_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 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.72sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.87sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.88sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.14sINFOjoint_trajectory_controllerReceived new action goal + 7.14sINFOjoint_trajectory_controllerAccepted new action goal + 7.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 39 warnings · 281 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 9288] ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.82sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-8process has finished cleanly [pid 9195] ×2 + 1.25sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.25sINFOros2Loaded vacuum_gripper ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.27sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.27sINFOros2Configured and activated vacuum_gripper ×2 + 1.61sINFOros2-12process has finished cleanly [pid 9265] ×2 + 1.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.71sINFOros2Loaded platform_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.72sINFOplatform_velocity_controllerconfigure successful + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 2.09sINFOros2-11process has finished cleanly [pid 9264] ×2 + 2.12sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 2.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.41sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.41sINFOros2Loaded velocity_force_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sINFOros2-15process has finished cleanly [pid 9268] ×2 + 3.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 3.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 3.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 4.03sINFOobjective_server_nodeError registering 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 + 4.03sINFOobjective_server_nodeError registering Objective at 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 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[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 | 39 warnings · 281 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 9288] ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.82sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-8process has finished cleanly [pid 9195] ×2 + 1.25sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.25sINFOros2Loaded vacuum_gripper ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.27sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.27sINFOros2Configured and activated vacuum_gripper ×2 + 1.61sINFOros2-12process has finished cleanly [pid 9265] ×2 + 1.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.71sINFOros2Loaded platform_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.72sINFOplatform_velocity_controllerconfigure successful + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 2.09sINFOros2-11process has finished cleanly [pid 9264] ×2 + 2.12sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 2.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.41sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.41sINFOros2Loaded velocity_force_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sINFOros2-15process has finished cleanly [pid 9268] ×2 + 3.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 3.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 3.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 4.03sINFOobjective_server_nodeError registering 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 + 4.03sINFOobjective_server_nodeError registering Objective at 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 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 39 warnings · 281 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 9288] ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.82sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-8process has finished cleanly [pid 9195] ×2 + 1.25sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.25sINFOros2Loaded vacuum_gripper ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.27sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.27sINFOros2Configured and activated vacuum_gripper ×2 + 1.61sINFOros2-12process has finished cleanly [pid 9265] ×2 + 1.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.71sINFOros2Loaded platform_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.72sINFOplatform_velocity_controllerconfigure successful + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 2.09sINFOros2-11process has finished cleanly [pid 9264] ×2 + 2.12sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 2.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.41sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.41sINFOros2Loaded velocity_force_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sINFOros2-15process has finished cleanly [pid 9268] ×2 + 3.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 3.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 3.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 4.03sINFOobjective_server_nodeError registering 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 + 4.03sINFOobjective_server_nodeError registering Objective at 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 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 39 warnings · 281 info |
+ 0.00sINFOros2-17process has finished cleanly [pid 9288] ×2 + 0.03sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.03sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.04sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.04sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.559] [info] Controller state will be published at 20 Hz. ×2 + 0.43sINFOros2_control_node[2026-06-25 18:12:18.560] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.77sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.77sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.77sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.77sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.77sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.82sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.84sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×6 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 1.18sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.18sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.18sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.18sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.19sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.19sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.21sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.21sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.22sINFOros2-8process has finished cleanly [pid 9195] ×2 + 1.25sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.25sINFOros2Loaded vacuum_gripper ×2 + 1.25sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.25sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.25sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.25sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.26sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.26sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.27sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.27sINFOros2Configured and activated vacuum_gripper ×2 + 1.61sINFOros2-12process has finished cleanly [pid 9265] ×2 + 1.62sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.62sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.62sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.63sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.63sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.71sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.71sINFOros2Loaded platform_velocity_controller ×2 + 1.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.72sINFOplatform_velocity_controllerconfigure successful + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.73sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.74sINFOros2Configured and activated platform_velocity_controller ×2 + 2.09sINFOros2-11process has finished cleanly [pid 9264] ×2 + 2.12sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 2.38sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 2.38sINFOcontroller_managerLoading controller 'velocity_force_controller' + 2.38sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.38sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 2.38sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 2.38sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.41sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 2.41sINFOros2Loaded velocity_force_controller ×2 + 2.41sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 2.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.80sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.18sINFOros2-15process has finished cleanly [pid 9268] ×2 + 3.19sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 3.20sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 3.20sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 3.20sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 3.20sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 3.20sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 3.20sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 3.23sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 3.23sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 3.23sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 3.24sINFOplatform_velocity_controller_nav2configure successful + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 4.02sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 4.03sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 4.03sINFOobjective_server_nodeError registering 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 + 4.03sINFOobjective_server_nodeError registering Objective at 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 + 4.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.03sINFOmove_groupClearing octomap...[0m ×2 + 4.03sINFOmove_groupOctomap cleared.[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 4.60sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 4.61sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 5.17sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 5.32sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.92sINFOobjective_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 + 5.92sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.92sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.92sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.92sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.95sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 6.44sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.52sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 6.53sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.53sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.53sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.53sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.53sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 39 warnings · 265 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007410 ms (missed cycles : 4).[0m ×2 + 0.05sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.05sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.05sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.05sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.05sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.05sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.10sINFOros2-18process has finished cleanly [pid 9289] ×2 + 0.13sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.13sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.13sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.13sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.14sINFOforce_torque_sensor_broadcasterconfigure successful + 0.14sINFOros2_control_nodeconfigure successful[0m ×6 + 0.14sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.15sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.15sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.15sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.15sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.15sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.46sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.46sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.46sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.47sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.47sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.49sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.49sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.50sINFOros2-8process has finished cleanly [pid 9195] ×2 + 0.53sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.53sINFOros2Loaded vacuum_gripper ×2 + 0.53sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.53sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.53sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.53sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.54sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.54sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.55sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.55sINFOros2Configured and activated vacuum_gripper ×2 + 0.90sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.90sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.90sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.90sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.90sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.91sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.91sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.99sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.99sINFOros2Loaded platform_velocity_controller ×2 + 0.99sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.99sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 1.00sINFOplatform_velocity_controllerconfigure successful + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 1.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.02sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.02sINFOros2Configured and activated platform_velocity_controller ×2 + 1.37sINFOros2-11process has finished cleanly [pid 9264] ×2 + 1.40sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.40sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.66sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.66sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.66sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.66sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.66sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.66sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.69sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.69sINFOros2Loaded velocity_force_controller ×2 + 1.69sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.69sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.71sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 2.08sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 2.08sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 2.08sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.46sINFOros2-15process has finished cleanly [pid 9268] ×2 + 2.47sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 2.48sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.48sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 2.48sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.48sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 2.48sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 2.48sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 2.51sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 2.51sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 2.51sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 2.51sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 2.52sINFOplatform_velocity_controller_nav2configure successful + 2.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.82sINFOros2-13process has finished cleanly [pid 9266] ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 3.30sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at 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 + 3.31sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 3.31sINFOobjective_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 ×10 + 3.31sINFOobjective_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 ×10 + 3.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.31sINFOmove_groupClearing octomap...[0m ×2 + 3.31sINFOmove_groupOctomap cleared.[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 5.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 5.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 5.20sINFOobjective_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 + 5.20sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.23sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.72sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.80sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.81sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.81sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.81sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.81sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.81sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.81sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[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 | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[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 | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 39 warnings · 234 info |
+ 0.00sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.00sINFOros2Loaded vacuum_gripper ×2 + 0.00sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.00sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.00sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.00sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.01sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.01sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.01sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.02sINFOros2Configured and activated vacuum_gripper ×2 + 0.36sINFOros2-12process has finished cleanly [pid 9265] ×2 + 0.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.38sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 0.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 0.46sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.46sINFOros2Loaded platform_velocity_controller ×2 + 0.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.46sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3). + 0.47sINFOplatform_velocity_controllerconfigure successful + 0.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.346952 ms (missed cycles : 3).[0m ×2 + 0.47sINFOros2_control_nodeconfigure successful[0m ×4 + 0.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.48sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.49sINFOros2Configured and activated platform_velocity_controller ×2 + 0.84sINFOros2-11process has finished cleanly [pid 9264] ×2 + 0.87sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.87sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 1.13sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.13sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.13sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.13sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.13sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.16sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.16sINFOros2Loaded velocity_force_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.16sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.18sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.18sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.714045 ms (missed cycles : 4).[0m ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.930] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.932] [info] Controller state will be published at 10 Hz. ×2 + 1.55sINFOros2_control_node[2026-06-25 18:12:20.933] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.93sINFOros2-15process has finished cleanly [pid 9268] ×2 + 1.94sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 1.95sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.95sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 1.95sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.95sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 + 1.95sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 1.95sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_tbpdm79j --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_ij27jxj_ --params-file /tmp/launch_params_42pylw93 [0m ×2 + 1.98sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 1.98sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 1.98sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 1.98sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 1.99sINFOplatform_velocity_controller_nav2configure successful + 2.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.29sINFOros2-13process has finished cleanly [pid 9266] ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.915466 ms (missed cycles : 2).[0m ×2 + 2.77sWARNobjective_server_nodeNot all Objectives could be registered:
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point.xml`: Error at line 6: -> Node not recognized: SetInitialPose
Error registering Objective at filepath `/github/home/.config/moveit_pro/hangar_sim/objectives/navigate_to_clicked_point_with_replanning.xml`: Error at line 6: -> Node not recognized: SetInitialPose ×5 + 2.78sWARNobjective_server_nodeNot all Objectives could be registered: ×10 + 2.78sINFOobjective_server_nodeError registering 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 + 2.78sINFOobjective_server_nodeError registering Objective at 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 + 2.78sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411142.16053677 seconds. ×3 + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.78sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.78sINFOmove_groupClearing octomap...[0m ×2 + 2.78sINFOmove_groupOctomap cleared.[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411142.17079210 seconds ×3 + 3.35sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411142.73291922 seconds. ×3 + 3.36sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411142.74304438 seconds ×3 + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5). + 3.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.157662 ms (missed cycles : 5).[0m ×2 + 3.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411143.29969096 seconds. ×3 + 4.07sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411143.45040941 seconds ×3 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426198 ms (missed cycles : 2).[0m ×2 + 4.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411144.03374505 seconds. ×3 + 4.66sINFOobjective_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 + 4.67sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.67sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.67sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.67sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.67sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.70sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411144.09404898 seconds ×3 + 5.19sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411144.64883661 seconds. ×3 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.28sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.28sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.28sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759500 ms (missed cycles : 5).[0m ×2 + 6.34sWARNobjective_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 + 6.34sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.61sINFOjoint_trajectory_controllerReceived new action goal + 6.61sINFOjoint_trajectory_controllerAccepted new action goal + 6.61sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.62sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.916131 ms (missed cycles : 5).[0m ×2 | ||||