67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
24.2s
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 | 74.1s | 3 errors · 240 warnings · 272 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.708ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542702 ms (missed cycles : 4). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542702 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.956ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389177 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389177 ms (missed cycles : 2).[0m ×2 + 1.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.331ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792848 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792848 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.795ms + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.334ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281611 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281611 ms (missed cycles : 2).[0m ×2 + 3.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.889ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 3.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.975ms + 3.73sINFOjoint_trajectory_controllerGot request to cancel goal + 3.73sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.73sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.73sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782412092.26113844 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.563ms + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645266 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645266 ms (missed cycles : 2).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.629ms + 4.32sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782412092.81761384 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.746ms + 4.66sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.774ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557448 ms (missed cycles : 4). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557448 ms (missed cycles : 4).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.045ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.633ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.179ms + 5.93sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.98sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.98sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.98sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.98sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.440610 ms (missed cycles : 6). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.440610 ms (missed cycles : 6).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.463ms + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.499ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421983 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.421983 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.809ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.712ms + 8.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866590 ms (missed cycles : 2). + 8.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866590 ms (missed cycles : 2).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 8.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.970ms + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.625ms + 9.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.764ms + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372565 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372565 ms (missed cycles : 3).[0m ×2 + 9.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.550ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.621ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.001ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762104 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.762104 ms (missed cycles : 3).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.531ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.912ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891694 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.891694 ms (missed cycles : 2).[0m ×2 + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 11.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.188ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.466ms + 12.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921163 ms (missed cycles : 2). + 12.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.921163 ms (missed cycles : 2).[0m ×2 + 12.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.037ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787071 ms (missed cycles : 4). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787071 ms (missed cycles : 4).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.432ms + 14.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.702ms + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.353ms + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.313ms + 14.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.303ms + 14.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864856 ms (missed cycles : 3). + 14.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.864856 ms (missed cycles : 3).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.408ms + 15.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.421ms + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820729 ms (missed cycles : 3). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.820729 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.780ms + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.626ms + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.990ms + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625107 ms (missed cycles : 2). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625107 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.566ms + 17.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.896ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447649 ms (missed cycles : 4). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.447649 ms (missed cycles : 4).[0m ×2 + 18.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.976ms + 18.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.627ms + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885139 ms (missed cycles : 3). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885139 ms (missed cycles : 3).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.609ms ×2 + 19.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.957ms + 19.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 19.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.042ms + 20.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009000 ms (missed cycles : 3). + 20.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009000 ms (missed cycles : 3).[0m ×2 + 20.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.418ms + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770057 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770057 ms (missed cycles : 2).[0m ×2 + 21.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.081ms + 21.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.149ms ×2 + 22.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621439 ms (missed cycles : 3). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621439 ms (missed cycles : 3).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.521ms + 22.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.287ms + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661541 ms (missed cycles : 2). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.661541 ms (missed cycles : 2).[0m ×2 + 23.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.653ms + 23.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.683ms + 23.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.215ms + 23.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.290ms + 24.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184116 ms (missed cycles : 4). + 24.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.184116 ms (missed cycles : 4).[0m ×2 + 24.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.592ms + 24.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms + 25.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359301 ms (missed cycles : 3). + 25.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359301 ms (missed cycles : 3).[0m ×2 + 25.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.710ms + 25.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 19.157ms + 25.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 25.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.388ms + 26.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.787ms + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712626 ms (missed cycles : 2). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712626 ms (missed cycles : 2).[0m ×2 + 26.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.272ms + 26.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.194ms + 27.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.794ms + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610149 ms (missed cycles : 2). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.610149 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 27.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.191ms + 27.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms + 28.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.417ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475706 ms (missed cycles : 4). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.475706 ms (missed cycles : 4).[0m ×2 + 28.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.447ms + 29.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.410ms + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075184 ms (missed cycles : 3). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.075184 ms (missed cycles : 3).[0m ×2 + 29.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.682ms + 29.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.910ms + 30.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.547ms + 30.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 30.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.559ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828768 ms (missed cycles : 3). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828768 ms (missed cycles : 3).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.192ms + 31.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046334 ms (missed cycles : 2). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046334 ms (missed cycles : 2).[0m ×2 + 32.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.606ms + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.537834 ms (missed cycles : 7). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.537834 ms (missed cycles : 7).[0m ×2 + 33.27sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.27sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.47sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398094 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398094 ms (missed cycles : 3).[0m ×2 + 34.16sWARNobjective_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 + 34.16sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 34.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.853017 ms (missed cycles : 6). + 34.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.853017 ms (missed cycles : 6).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393837 ms (missed cycles : 3). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.393837 ms (missed cycles : 3).[0m ×2 + 36.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.283ms + 36.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.736ms + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675764 ms (missed cycles : 2). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675764 ms (missed cycles : 2).[0m ×2 + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.114ms + 37.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.799ms + 37.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.722ms + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134149 ms (missed cycles : 4). + 37.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134149 ms (missed cycles : 4).[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.093ms + 38.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.965ms + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189254 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189254 ms (missed cycles : 2).[0m ×2 + 39.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.871ms + 39.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393886 ms (missed cycles : 2). + 39.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393886 ms (missed cycles : 2).[0m ×2 + 40.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.909ms + 40.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567248 ms (missed cycles : 4). + 40.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567248 ms (missed cycles : 4).[0m ×2 + 40.81sINFOros2_control_nodeMuJoCo sim: 1.13% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 41.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800066 ms (missed cycles : 2). + 41.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800066 ms (missed cycles : 2).[0m ×2 + 42.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585693 ms (missed cycles : 3). + 42.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585693 ms (missed cycles : 3).[0m ×2 + 42.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.154ms + 43.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.806ms + 43.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.988ms + 43.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285642 ms (missed cycles : 3). + 43.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285642 ms (missed cycles : 3).[0m ×2 + 44.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.508ms + 44.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541876 ms (missed cycles : 3). + 44.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541876 ms (missed cycles : 3).[0m ×2 + 45.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.844ms + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474211 ms (missed cycles : 2). + 46.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474211 ms (missed cycles : 2).[0m ×2 + 46.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.392ms + 47.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.354ms + 47.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669729 ms (missed cycles : 3). + 47.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.669729 ms (missed cycles : 3).[0m ×2 + 47.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.903ms + 48.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208674 ms (missed cycles : 4). + 48.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.208674 ms (missed cycles : 4).[0m ×2 + 48.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 48.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.489ms + 49.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.512ms + 49.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885110 ms (missed cycles : 3). + 49.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885110 ms (missed cycles : 3).[0m ×2 + 50.08sINFOobjective_server_nodePlanning for 35 path waypoints. ×3 + 50.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615066 ms (missed cycles : 4). + 50.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615066 ms (missed cycles : 4).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.450ms + 50.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.342ms + 51.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179155 ms (missed cycles : 3). + 51.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179155 ms (missed cycles : 3).[0m ×2 + 52.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449063 ms (missed cycles : 3). + 52.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.449063 ms (missed cycles : 3).[0m ×2 + 52.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.832ms + 52.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 53.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372332 ms (missed cycles : 3). + 53.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.372332 ms (missed cycles : 3).[0m ×2 + 53.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.576ms + 53.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.646ms + 54.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.265ms + 54.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.725931 ms (missed cycles : 6). + 54.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.725931 ms (missed cycles : 6).[0m ×2 + 54.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.332ms + 55.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.385ms + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277699 ms (missed cycles : 2). + 55.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277699 ms (missed cycles : 2).[0m ×2 + 56.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.641ms + 56.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702719 ms (missed cycles : 3). + 56.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.702719 ms (missed cycles : 3).[0m ×2 + 57.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.933ms + 57.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.231702 ms (missed cycles : 6). + 57.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.231702 ms (missed cycles : 6).[0m ×2 + 57.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.661ms + 57.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.399ms + 57.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.882ms + 58.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538108 ms (missed cycles : 3). + 58.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538108 ms (missed cycles : 3).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.724ms + 59.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365870 ms (missed cycles : 2). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365870 ms (missed cycles : 2).[0m ×2 + 59.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.783ms + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.954ms + 60.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.555ms + 60.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218943 ms (missed cycles : 5). + 60.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.218943 ms (missed cycles : 5).[0m ×2 + 61.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.853ms + 61.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.227642 ms (missed cycles : 6). + 61.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.227642 ms (missed cycles : 6).[0m ×2 + 61.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.640ms + 62.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257695 ms (missed cycles : 4). + 62.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.257695 ms (missed cycles : 4).[0m ×2 + 63.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.752ms + 63.83sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 63.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255270 ms (missed cycles : 2). + 63.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255270 ms (missed cycles : 2).[0m ×2 + 64.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.979ms + 64.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.054ms + 64.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977540 ms (missed cycles : 3). + 64.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977540 ms (missed cycles : 3).[0m ×2 + 66.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648673 ms (missed cycles : 3). + 66.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.648673 ms (missed cycles : 3).[0m ×2 + 67.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144886 ms (missed cycles : 3). + 67.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144886 ms (missed cycles : 3).[0m ×2 + 67.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.136ms + 68.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897694 ms (missed cycles : 5). + 68.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.897694 ms (missed cycles : 5).[0m ×2 + 68.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.830ms + 68.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.313ms + 69.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625108 ms (missed cycles : 3). + 69.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625108 ms (missed cycles : 3).[0m ×2 + 70.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.707ms + 70.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568783 ms (missed cycles : 4). + 70.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.568783 ms (missed cycles : 4).[0m ×2 + 70.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.549ms + 71.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.536ms + 71.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.556499 ms (missed cycles : 6). + 71.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.556499 ms (missed cycles : 6).[0m ×2 + 72.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.799ms + 72.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146396 ms (missed cycles : 4). + 72.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146396 ms (missed cycles : 4).[0m ×2 + 72.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.449ms + 73.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.771ms + 73.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.155ms + 73.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958879 ms (missed cycles : 3). + 73.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958879 ms (missed cycles : 3).[0m ×2 + 73.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 73.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 73.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 74.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 74.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 74.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 75.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 75.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 75.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 75.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 76.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 76.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 76.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 77.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 77.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 77.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 77.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 77.84sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 78.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 78.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 78.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 78.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 78.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 78.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 78.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 78.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 78.82sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 79.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 79.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 79.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 79.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 79.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 79.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 79.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 80.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 80.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 80.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.9s | 186 warnings · 167 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411931.78756404 seconds ×3 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411932.34950519 seconds. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (2.2301e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.90sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.90sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.90sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.90sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411935.42969966 seconds ×3 + 4.17sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.886ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226317 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226317 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411935.98223448 seconds. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.674ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953019 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953019 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101292 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101292 ms (missed cycles : 5).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574006 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574006 ms (missed cycles : 2).[0m ×2 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646015 ms (missed cycles : 3). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646015 ms (missed cycles : 3).[0m ×2 + 8.56sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 1.466ms + 9.16sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.204ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303098 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303098 ms (missed cycles : 3).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 10.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863471 ms (missed cycles : 3). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.863471 ms (missed cycles : 3).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 11.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441400 ms (missed cycles : 2). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441400 ms (missed cycles : 2).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 12.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893895 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893895 ms (missed cycles : 2).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms ×2 + 13.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 13.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814283 ms (missed cycles : 3). + 13.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814283 ms (missed cycles : 3).[0m ×2 + 13.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 14.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms ×2 + 14.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551661 ms (missed cycles : 4). + 14.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.551661 ms (missed cycles : 4).[0m ×2 + 15.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms ×2 + 15.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674291 ms (missed cycles : 2). + 15.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.674291 ms (missed cycles : 2).[0m ×2 + 16.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 16.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms ×2 + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287505 ms (missed cycles : 5). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.287505 ms (missed cycles : 5).[0m ×2 + 17.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 17.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 17.87sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.624693 ms (missed cycles : 7). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.624693 ms (missed cycles : 7).[0m ×2 + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 18.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 19.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349045 ms (missed cycles : 6). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.349045 ms (missed cycles : 6).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 20.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539437 ms (missed cycles : 2). + 20.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.539437 ms (missed cycles : 2).[0m ×2 + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075613 ms (missed cycles : 7). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.075613 ms (missed cycles : 7).[0m ×2 + 21.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199216 ms (missed cycles : 2). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199216 ms (missed cycles : 2).[0m ×2 + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 22.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909004 ms (missed cycles : 3). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909004 ms (missed cycles : 3).[0m ×2 + 23.96sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774282 ms (missed cycles : 6). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.774282 ms (missed cycles : 6).[0m ×2 + 24.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms ×2 + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 25.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391279 ms (missed cycles : 3). + 25.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391279 ms (missed cycles : 3).[0m ×2 + 25.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 26.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 26.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842928 ms (missed cycles : 3). + 26.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842928 ms (missed cycles : 3).[0m ×2 + 26.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 27.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182091 ms (missed cycles : 2). + 27.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182091 ms (missed cycles : 2).[0m ×2 + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305256 ms (missed cycles : 2). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305256 ms (missed cycles : 2).[0m ×2 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 29.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.836ms ×2 + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844537 ms (missed cycles : 2). + 29.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844537 ms (missed cycles : 2).[0m ×2 + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 30.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 30.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230935 ms (missed cycles : 5). + 30.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.230935 ms (missed cycles : 5).[0m ×2 + 30.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 31.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807511 ms (missed cycles : 3). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807511 ms (missed cycles : 3).[0m ×2 + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 32.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 32.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404894 ms (missed cycles : 2). + 32.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.404894 ms (missed cycles : 2).[0m ×2 + 33.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 33.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682246 ms (missed cycles : 2). + 33.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682246 ms (missed cycles : 2).[0m ×2 + 34.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672222 ms (missed cycles : 3). + 34.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672222 ms (missed cycles : 3).[0m ×2 + 35.32sWARNobjective_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 + 35.32sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295812 ms (missed cycles : 2). + 35.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295812 ms (missed cycles : 2).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508221 ms (missed cycles : 2). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.508221 ms (missed cycles : 2).[0m ×2 + 37.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260762 ms (missed cycles : 5). + 37.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.260762 ms (missed cycles : 5).[0m ×2 + 38.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171340 ms (missed cycles : 3). + 38.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.171340 ms (missed cycles : 3).[0m ×2 + 39.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 39.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989406 ms (missed cycles : 2). + 39.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989406 ms (missed cycles : 2).[0m ×2 + 41.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228974 ms (missed cycles : 2). + 41.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228974 ms (missed cycles : 2).[0m ×2 + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344325 ms (missed cycles : 3). + 42.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344325 ms (missed cycles : 3).[0m ×2 + 42.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370531 ms (missed cycles : 3). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.370531 ms (missed cycles : 3).[0m ×2 + 44.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227912 ms (missed cycles : 5). + 44.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.227912 ms (missed cycles : 5).[0m ×2 + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097552 ms (missed cycles : 4). + 45.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.097552 ms (missed cycles : 4).[0m ×2 + 45.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.357565 ms (missed cycles : 6). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.357565 ms (missed cycles : 6).[0m ×2 + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989305 ms (missed cycles : 3). + 47.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989305 ms (missed cycles : 3).[0m ×2 + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956053 ms (missed cycles : 2). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956053 ms (missed cycles : 2).[0m ×2 + 48.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.065ms + 49.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997489 ms (missed cycles : 3). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997489 ms (missed cycles : 3).[0m ×2 + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914778 ms (missed cycles : 6). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.914778 ms (missed cycles : 6).[0m ×2 + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173668 ms (missed cycles : 5). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173668 ms (missed cycles : 5).[0m ×2 + 52.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200273 ms (missed cycles : 2). + 52.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200273 ms (missed cycles : 2).[0m ×2 + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711557 ms (missed cycles : 4). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.711557 ms (missed cycles : 4).[0m ×2 + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473531 ms (missed cycles : 3). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473531 ms (missed cycles : 3).[0m ×2 + 55.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 55.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529044 ms (missed cycles : 2). + 55.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529044 ms (missed cycles : 2).[0m ×2 + 56.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501600 ms (missed cycles : 3). + 56.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501600 ms (missed cycles : 3).[0m ×2 + 57.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 57.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4). + 57.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4).[0m ×2 + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2).[0m ×2 + 59.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2). + 59.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2).[0m ×2 + 60.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 60.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2). + 60.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2).[0m ×2 + 60.88sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411992.31240797 seconds ×3 + 61.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.547ms + 61.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.682ms + 61.46sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411992.88672829 seconds. ×3 + 61.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 61.80sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 61.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2). + 61.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2).[0m ×2 + 61.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 62.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 62.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 62.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 63.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 55.6s | 183 warnings · 205 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.10sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms ×2 + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms ×2 + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.81sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.81sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×6 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181670 ms (missed cycles : 5). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.181670 ms (missed cycles : 5).[0m ×2 + 7.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.214ms + 7.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.007ms + 8.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.845ms + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.844365 ms (missed cycles : 6). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.844365 ms (missed cycles : 6).[0m ×2 + 8.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.911ms + 8.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.540ms + 8.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.427ms + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318265 ms (missed cycles : 4). + 9.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318265 ms (missed cycles : 4).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.246ms + 9.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.309ms + 10.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.474ms + 10.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.679108 ms (missed cycles : 8). + 10.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.679108 ms (missed cycles : 8).[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.767ms + 10.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.460ms + 11.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.090ms + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535640 ms (missed cycles : 3). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535640 ms (missed cycles : 3).[0m ×2 + 11.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.322ms + 11.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.283ms + 11.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.070ms + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922957 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.922957 ms (missed cycles : 2).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.169ms + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.384ms + 13.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.953852 ms (missed cycles : 6). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.953852 ms (missed cycles : 6).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.390ms + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.945ms + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.528ms + 14.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173371 ms (missed cycles : 5). + 14.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173371 ms (missed cycles : 5).[0m ×2 + 14.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.743ms + 14.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.737ms + 15.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.995ms + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714786 ms (missed cycles : 2). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714786 ms (missed cycles : 2).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.655ms + 15.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.323ms + 16.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.715ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129084 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129084 ms (missed cycles : 4).[0m ×2 + 16.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.922ms + 16.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.426ms + 17.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.368ms + 17.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.276ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435991 ms (missed cycles : 3). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435991 ms (missed cycles : 3).[0m ×2 + 17.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.729ms + 17.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.294ms + 17.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.206ms + 18.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.819ms + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166366 ms (missed cycles : 2). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166366 ms (missed cycles : 2).[0m ×2 + 18.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.612ms + 18.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.425ms + 19.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.224ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376872 ms (missed cycles : 6). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.376872 ms (missed cycles : 6).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.875ms + 20.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.841ms + 20.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979349 ms (missed cycles : 3). + 20.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979349 ms (missed cycles : 3).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.952ms + 21.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.150ms + 21.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.456ms + 21.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.754ms + 21.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427919 ms (missed cycles : 3). + 21.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.427919 ms (missed cycles : 3).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.383ms + 22.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.364ms + 22.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.219ms + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990299 ms (missed cycles : 4). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.990299 ms (missed cycles : 4).[0m ×2 + 23.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.467ms + 23.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.387ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889312 ms (missed cycles : 6). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.889312 ms (missed cycles : 6).[0m ×2 + 23.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.743ms + 23.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 24.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.285ms + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288578 ms (missed cycles : 3). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.288578 ms (missed cycles : 3).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.158ms + 25.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.937ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924972 ms (missed cycles : 3). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924972 ms (missed cycles : 3).[0m ×2 + 25.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.959ms + 26.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.317ms + 26.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.644ms + 26.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031313 ms (missed cycles : 5). + 26.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.031313 ms (missed cycles : 5).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.821ms + 27.10sINFOros2_control_nodeMuJoCo sim: 1.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 27.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.992ms + 27.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224290 ms (missed cycles : 2). + 27.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224290 ms (missed cycles : 2).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.287ms + 28.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.712ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627142 ms (missed cycles : 2). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627142 ms (missed cycles : 2).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.740ms + 29.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.464ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338396 ms (missed cycles : 6). + 30.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.338396 ms (missed cycles : 6).[0m ×2 + 30.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.492ms + 30.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.222ms + 31.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.817ms + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707057 ms (missed cycles : 2). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707057 ms (missed cycles : 2).[0m ×2 + 31.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.125ms + 32.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.610ms + 32.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464974 ms (missed cycles : 6). + 32.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464974 ms (missed cycles : 6).[0m ×2 + 32.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.475ms + 33.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712063 ms (missed cycles : 2). + 33.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712063 ms (missed cycles : 2).[0m ×2 + 34.06sWARNobjective_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 + 34.06sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.462582 ms (missed cycles : 7). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.462582 ms (missed cycles : 7).[0m ×2 + 35.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.918ms + 35.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.888ms + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758579 ms (missed cycles : 2). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758579 ms (missed cycles : 2).[0m ×2 + 35.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.726ms + 35.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.769ms + 35.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.306ms + 36.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.792ms + 36.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076586 ms (missed cycles : 2). + 36.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.076586 ms (missed cycles : 2).[0m ×2 + 37.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.680ms + 37.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.692ms + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535944 ms (missed cycles : 3). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.535944 ms (missed cycles : 3).[0m ×2 + 37.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.159ms + 37.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.242ms + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639847 ms (missed cycles : 3). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639847 ms (missed cycles : 3).[0m ×2 + 39.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802202 ms (missed cycles : 2). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802202 ms (missed cycles : 2).[0m ×2 + 39.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.155ms + 39.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.387ms + 40.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353933 ms (missed cycles : 3). + 40.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353933 ms (missed cycles : 3).[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133529 ms (missed cycles : 5). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.133529 ms (missed cycles : 5).[0m ×2 + 41.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.274ms + 41.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.579ms + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076534 ms (missed cycles : 2). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.076534 ms (missed cycles : 2).[0m ×2 + 43.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562817 ms (missed cycles : 3). + 43.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562817 ms (missed cycles : 3).[0m ×2 + 43.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.908ms + 44.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.081ms + 44.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.169ms + 44.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442321 ms (missed cycles : 3). + 44.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442321 ms (missed cycles : 3).[0m ×2 + 45.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.816ms + 45.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428568 ms (missed cycles : 3). + 45.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428568 ms (missed cycles : 3).[0m ×2 + 45.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.385ms + 46.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.431ms + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856748 ms (missed cycles : 3). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.856748 ms (missed cycles : 3).[0m ×2 + 46.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.182ms + 47.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859880 ms (missed cycles : 2). + 47.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859880 ms (missed cycles : 2).[0m ×2 + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408340 ms (missed cycles : 6). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.408340 ms (missed cycles : 6).[0m ×2 + 49.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.614ms + 49.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.502ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410963 ms (missed cycles : 3). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.410963 ms (missed cycles : 3).[0m ×2 + 50.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.337ms + 50.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.563ms + 51.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030634 ms (missed cycles : 4). + 51.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.030634 ms (missed cycles : 4).[0m ×2 + 51.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.605ms + 51.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.218ms + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980148 ms (missed cycles : 5). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980148 ms (missed cycles : 5).[0m ×2 + 53.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679585 ms (missed cycles : 5). + 53.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679585 ms (missed cycles : 5).[0m ×2 + 53.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.684ms + 53.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.077ms + 54.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227259 ms (missed cycles : 2). + 54.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227259 ms (missed cycles : 2).[0m ×2 + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596788 ms (missed cycles : 3). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.596788 ms (missed cycles : 3).[0m ×2 + 55.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.555ms + 56.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.225ms + 56.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794875 ms (missed cycles : 3). + 56.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794875 ms (missed cycles : 3).[0m ×2 + 56.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.130ms + 57.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564110 ms (missed cycles : 3). + 57.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564110 ms (missed cycles : 3).[0m ×2 + 58.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.335548 ms (missed cycles : 7). + 58.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.335548 ms (missed cycles : 7).[0m ×2 + 58.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.536ms + 58.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.092ms + 59.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797618 ms (missed cycles : 2). + 59.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797618 ms (missed cycles : 2).[0m ×2 + 59.73sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782412221.94942188 seconds ×3 + 59.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 60.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.108ms + 60.29sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782412222.51024818 seconds. ×3 + 60.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634337 ms (missed cycles : 4). + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634337 ms (missed cycles : 4).[0m ×2 + 60.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.608ms + 60.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.202ms + 60.65sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 60.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.083ms + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938235 ms (missed cycles : 2). + 61.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938235 ms (missed cycles : 2).[0m ×2 + 61.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.027ms + 62.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624690 ms (missed cycles : 3). + 62.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624690 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.7s | 174 warnings · 285 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.040ms + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.630ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.753ms + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.584ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.770ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.644ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.918ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.084ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.276ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 4.07sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.07sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782412028.91505837 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.017ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782412029.47260833 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.967ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.533ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.31sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.31sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.413ms + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.058ms + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790484 ms (missed cycles : 5). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.790484 ms (missed cycles : 5).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.082ms ×2 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.695ms + 7.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.165ms + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144730 ms (missed cycles : 4). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.144730 ms (missed cycles : 4).[0m ×2 + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.340ms + 9.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302511 ms (missed cycles : 2). + 9.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.302511 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.685ms ×3 + 9.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.159ms + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.829ms ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761976 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761976 ms (missed cycles : 2).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.417ms + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.868ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.590ms + 11.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312401 ms (missed cycles : 2). + 11.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312401 ms (missed cycles : 2).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.379ms + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.129ms + 12.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.315ms + 12.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888048 ms (missed cycles : 2). + 12.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888048 ms (missed cycles : 2).[0m ×2 + 12.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.254ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.138ms + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.492ms + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.492ms + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210171 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210171 ms (missed cycles : 2).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.038ms + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.429ms + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.907ms + 14.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.489ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467958 ms (missed cycles : 6). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.467958 ms (missed cycles : 6).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.138ms + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025266 ms (missed cycles : 2). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.025266 ms (missed cycles : 2).[0m ×2 + 15.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.961ms + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.136ms + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.892ms + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 16.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.890ms + 16.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248183 ms (missed cycles : 2). + 16.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248183 ms (missed cycles : 2).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.981ms + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.374ms + 16.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.135ms + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.620ms + 17.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.698ms + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.173ms + 17.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822755 ms (missed cycles : 5). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822755 ms (missed cycles : 5).[0m ×2 + 17.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.929ms + 17.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.852ms + 18.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 18.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.937ms + 18.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.223ms + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645350 ms (missed cycles : 3). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645350 ms (missed cycles : 3).[0m ×2 + 18.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.845ms + 18.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.526ms + 19.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 19.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.048ms + 19.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.003ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945142 ms (missed cycles : 4). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.945142 ms (missed cycles : 4).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.024ms + 19.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.964ms ×2 + 20.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 20.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.886ms + 20.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.061ms + 20.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.068ms + 20.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.226ms + 20.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780192 ms (missed cycles : 2). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.780192 ms (missed cycles : 2).[0m ×2 + 20.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.044ms + 20.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.368ms + 21.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.149ms + 21.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.948ms + 21.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.908ms + 21.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.584ms + 21.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.113ms + 21.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 21.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511828 ms (missed cycles : 4). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.511828 ms (missed cycles : 4).[0m ×2 + 21.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.543ms + 21.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.455ms + 22.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.194ms + 22.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.658ms + 22.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.089ms + 22.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.867ms + 22.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.115ms + 22.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.117ms + 22.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.509ms + 22.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.561ms ×2 + 22.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936141 ms (missed cycles : 3). + 22.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936141 ms (missed cycles : 3).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.168ms + 23.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.765ms + 23.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.984ms + 23.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.548ms + 23.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.456ms + 23.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.920ms + 23.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.704ms + 23.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.185ms + 23.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.090ms + 23.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.551ms + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393709 ms (missed cycles : 3). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393709 ms (missed cycles : 3).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.103ms + 24.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.335ms + 24.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.040ms + 24.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.461ms + 24.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 24.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.955ms + 24.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.051ms + 24.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.330ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036787 ms (missed cycles : 3). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036787 ms (missed cycles : 3).[0m ×2 + 24.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.220ms + 25.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.084ms + 25.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.142ms + 25.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.303ms + 25.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.862ms + 25.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.687ms + 25.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.036ms + 25.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.788ms + 25.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.837ms + 25.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.171ms + 25.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198610 ms (missed cycles : 2). + 25.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198610 ms (missed cycles : 2).[0m ×2 + 25.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.822ms + 26.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.201ms + 26.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.228ms + 26.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.359ms + 26.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.839ms + 26.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.319ms + 26.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.037ms + 26.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.249ms + 26.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.268ms + 26.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.482ms + 26.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.555ms + 26.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066489 ms (missed cycles : 4). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066489 ms (missed cycles : 4).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.611ms + 27.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.677ms + 27.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.406ms + 27.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.487ms + 27.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.648ms + 27.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.627ms + 27.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.287ms + 28.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.398ms + 28.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462532 ms (missed cycles : 4). + 28.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462532 ms (missed cycles : 4).[0m ×2 + 28.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.977ms + 29.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.170ms + 29.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.682556 ms (missed cycles : 6). + 29.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.682556 ms (missed cycles : 6).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.088ms + 30.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.438ms + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911711 ms (missed cycles : 3). + 30.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.911711 ms (missed cycles : 3).[0m ×2 + 30.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 31.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.031ms + 31.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357632 ms (missed cycles : 2). + 31.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.357632 ms (missed cycles : 2).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.959ms + 32.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.336ms + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882049 ms (missed cycles : 2). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882049 ms (missed cycles : 2).[0m ×2 + 33.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546463 ms (missed cycles : 3). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546463 ms (missed cycles : 3).[0m ×2 + 34.00sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992418 ms (missed cycles : 2). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992418 ms (missed cycles : 2).[0m ×2 + 34.58sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 34.58sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 35.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.565ms + 35.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.746ms + 35.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211067 ms (missed cycles : 5). + 35.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.211067 ms (missed cycles : 5).[0m ×2 + 36.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.580ms + 36.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.188ms + 36.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416652 ms (missed cycles : 4). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.416652 ms (missed cycles : 4).[0m ×2 + 36.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.414ms + 37.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.564ms + 37.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247466 ms (missed cycles : 2). + 37.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247466 ms (missed cycles : 2).[0m ×2 + 37.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.162ms + 38.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.030ms + 38.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.861ms + 38.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376450 ms (missed cycles : 2). + 38.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.376450 ms (missed cycles : 2).[0m ×2 + 39.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.933ms + 39.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.480ms + 39.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.259ms + 39.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795967 ms (missed cycles : 2). + 39.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.795967 ms (missed cycles : 2).[0m ×2 + 40.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.507ms + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.018795 ms (missed cycles : 8). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.018795 ms (missed cycles : 8).[0m ×2 + 41.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.031ms + 41.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.114ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998694 ms (missed cycles : 5). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.998694 ms (missed cycles : 5).[0m ×2 + 42.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640058 ms (missed cycles : 2). + 42.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640058 ms (missed cycles : 2).[0m ×2 + 43.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 43.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.530ms + 43.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.358ms + 43.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088909 ms (missed cycles : 2). + 43.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.088909 ms (missed cycles : 2).[0m ×2 + 44.50sINFOros2_control_nodeMuJoCo sim: 0.97% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 44.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 44.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335666 ms (missed cycles : 3). + 44.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335666 ms (missed cycles : 3).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 45.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.771ms + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461815 ms (missed cycles : 3). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461815 ms (missed cycles : 3).[0m ×2 + 46.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.256ms + 46.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.768ms + 47.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082765 ms (missed cycles : 2). + 47.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082765 ms (missed cycles : 2).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.779ms + 48.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.009ms + 48.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104307 ms (missed cycles : 2). + 48.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104307 ms (missed cycles : 2).[0m ×2 + 48.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.284ms + 49.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999794 ms (missed cycles : 3). + 49.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999794 ms (missed cycles : 3).[0m ×2 + 49.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.934ms + 49.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.946ms + 49.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.082ms + 50.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.424ms + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127880 ms (missed cycles : 4). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.127880 ms (missed cycles : 4).[0m ×2 + 50.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.883ms + 50.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.797ms + 51.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696956 ms (missed cycles : 2). + 51.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696956 ms (missed cycles : 2).[0m ×2 + 52.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.698ms + 52.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630337 ms (missed cycles : 3). + 52.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.630337 ms (missed cycles : 3).[0m ×2 + 52.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.681ms + 52.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.882ms + 52.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 52.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.626ms + 53.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517772 ms (missed cycles : 2). + 53.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517772 ms (missed cycles : 2).[0m ×2 + 54.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126196 ms (missed cycles : 5). + 54.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126196 ms (missed cycles : 5).[0m ×2 + 54.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms + 54.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.989ms + 55.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.148ms + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253247 ms (missed cycles : 3). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253247 ms (missed cycles : 3).[0m ×2 + 56.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575611 ms (missed cycles : 4). + 56.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575611 ms (missed cycles : 4).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 56.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782412081.65275884 seconds ×3 + 57.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.216ms + 57.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.865ms + 57.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.080ms + 57.42sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782412082.22072697 seconds. ×3 + 57.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754247 ms (missed cycles : 3). + 57.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754247 ms (missed cycles : 3).[0m ×2 + 57.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 57.83sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 58.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 58.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610973 ms (missed cycles : 4). + 58.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610973 ms (missed cycles : 4).[0m ×2 + 58.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 58.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 58.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.317ms + 59.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.882ms + 59.11sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.608ms + 59.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269193 ms (missed cycles : 3). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269193 ms (missed cycles : 3).[0m ×2 + 59.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.810ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 150 warnings · 251 info |
+ 0.00sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.00sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.00sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.01sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.02sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.02sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.06sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.07sINFOros2Loaded vacuum_gripper ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.08sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.08sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.08sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.09sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.10sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.10sINFOros2Configured and activated vacuum_gripper ×2 + 0.43sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.51sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.51sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.51sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.51sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.51sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.51sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.57sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.57sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.58sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.58sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.59sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.59sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 0.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 0.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 0.96sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 0.96sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.35sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.39sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.39sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.39sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.39sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.39sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.40sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.40sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.49sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.49sINFOros2Loaded joint_trajectory_controller ×2 + 1.49sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.49sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.49sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.49sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.49sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.50sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.50sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.50sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.50sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.50sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.50sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.51sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.51sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 1.83sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.12sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 2.69sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 3.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.01sINFOobjective_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 + 4.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.05sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.05sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.64sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.64sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.64sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.64sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.64sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 4.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.18sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.70sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 5.70sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978453 ms (missed cycles : 2). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978453 ms (missed cycles : 2).[0m ×2 + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031168 ms (missed cycles : 2). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031168 ms (missed cycles : 2).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545293 ms (missed cycles : 4). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545293 ms (missed cycles : 4).[0m ×2 + 10.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809343 ms (missed cycles : 3). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809343 ms (missed cycles : 3).[0m ×2 + 11.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942390 ms (missed cycles : 5). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.942390 ms (missed cycles : 5).[0m ×2 + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857889 ms (missed cycles : 3). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857889 ms (missed cycles : 3).[0m ×2 + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907567 ms (missed cycles : 3). + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.907567 ms (missed cycles : 3).[0m ×2 + 14.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577620 ms (missed cycles : 3). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.577620 ms (missed cycles : 3).[0m ×2 + 15.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675739 ms (missed cycles : 5). + 15.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.675739 ms (missed cycles : 5).[0m ×2 + 16.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.239918 ms (missed cycles : 7). + 16.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.239918 ms (missed cycles : 7).[0m ×2 + 17.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787612 ms (missed cycles : 2). + 17.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787612 ms (missed cycles : 2).[0m ×2 + 18.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888993 ms (missed cycles : 3). + 18.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.888993 ms (missed cycles : 3).[0m ×2 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540057 ms (missed cycles : 3). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540057 ms (missed cycles : 3).[0m ×2 + 21.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915690 ms (missed cycles : 2). + 21.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915690 ms (missed cycles : 2).[0m ×2 + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983535 ms (missed cycles : 3). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983535 ms (missed cycles : 3).[0m ×2 + 23.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721796 ms (missed cycles : 2). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721796 ms (missed cycles : 2).[0m ×2 + 24.29sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.074ms + 24.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942337 ms (missed cycles : 2). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942337 ms (missed cycles : 2).[0m ×2 + 25.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130021 ms (missed cycles : 2). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130021 ms (missed cycles : 2).[0m ×2 + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033050 ms (missed cycles : 4). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033050 ms (missed cycles : 4).[0m ×2 + 27.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862151 ms (missed cycles : 3). + 27.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862151 ms (missed cycles : 3).[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582421 ms (missed cycles : 4). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.582421 ms (missed cycles : 4).[0m ×2 + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528528 ms (missed cycles : 3). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528528 ms (missed cycles : 3).[0m ×2 + 30.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082435 ms (missed cycles : 4). + 30.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.082435 ms (missed cycles : 4).[0m ×2 + 31.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868769 ms (missed cycles : 3). + 31.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868769 ms (missed cycles : 3).[0m ×2 + 32.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065153 ms (missed cycles : 3). + 32.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065153 ms (missed cycles : 3).[0m ×2 + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192933 ms (missed cycles : 2). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.192933 ms (missed cycles : 2).[0m ×2 + 34.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283698 ms (missed cycles : 4). + 34.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283698 ms (missed cycles : 4).[0m ×2 + 35.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910608 ms (missed cycles : 2). + 35.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.910608 ms (missed cycles : 2).[0m ×2 + 36.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728007 ms (missed cycles : 4). + 36.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728007 ms (missed cycles : 4).[0m ×2 + 37.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022271 ms (missed cycles : 3). + 37.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022271 ms (missed cycles : 3).[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842715 ms (missed cycles : 2). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842715 ms (missed cycles : 2).[0m ×2 + 39.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163014 ms (missed cycles : 3). + 39.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163014 ms (missed cycles : 3).[0m ×2 + 41.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170932 ms (missed cycles : 2). + 41.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170932 ms (missed cycles : 2).[0m ×2 + 42.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092980 ms (missed cycles : 5). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.092980 ms (missed cycles : 5).[0m ×2 + 43.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336713 ms (missed cycles : 3). + 43.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.336713 ms (missed cycles : 3).[0m ×2 + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3).[0m ×2 + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3). + 46.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3).[0m ×2 + 47.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5). + 47.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5).[0m ×2 + 47.63sINFOjoint_trajectory_controllerGoal reached, success! + 47.63sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411931.78756404 seconds ×3 + 48.24sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411932.34950519 seconds. ×3 + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3).[0m ×2 + 49.17sINFOobjective_server_nodeFound path in 0 iterations (2.2301e-05 s). ×2 + 49.18sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.20sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5). + 49.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5).[0m ×2 + 50.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3). + 50.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.9s | 108 warnings · 159 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 0.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 0.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.504993 ms (missed cycles : 7). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.504993 ms (missed cycles : 7).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145947 ms (missed cycles : 7). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145947 ms (missed cycles : 7).[0m ×2 + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 2.72sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.72sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.76sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782411996.97697759 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961067 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961067 ms (missed cycles : 3).[0m ×2 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782411998.53490210 seconds. ×3 + 4.35sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712451 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712451 ms (missed cycles : 3).[0m ×2 + 4.68sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.019697 ms (missed cycles : 6). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.019697 ms (missed cycles : 6).[0m ×2 + 6.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.30sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.30sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.30sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.30sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179937 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179937 ms (missed cycles : 3).[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.099ms + 7.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.623ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310300 ms (missed cycles : 2). + 7.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310300 ms (missed cycles : 2).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.619ms + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.620597 ms (missed cycles : 7). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.620597 ms (missed cycles : 7).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.034ms + 9.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.955ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329973 ms (missed cycles : 2). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329973 ms (missed cycles : 2).[0m ×2 + 9.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.345ms + 10.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.024ms + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887162 ms (missed cycles : 2). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.887162 ms (missed cycles : 2).[0m ×2 + 10.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.854ms + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.157ms + 11.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.387ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.187ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.042ms + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.113ms + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.345924 ms (missed cycles : 6). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.345924 ms (missed cycles : 6).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.307ms + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.923ms + 12.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.055ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234576 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.234576 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.291ms + 13.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.517ms + 13.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.121ms + 13.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.263ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959846 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959846 ms (missed cycles : 2).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.025ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890512 ms (missed cycles : 2). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890512 ms (missed cycles : 2).[0m ×2 + 15.09sINFOros2_control_nodeMuJoCo sim: 0.92% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.854ms + 15.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.468ms + 15.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.911ms + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.205ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441339 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441339 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.238ms + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.627ms + 16.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.794ms + 16.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.955ms + 16.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.294ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178674 ms (missed cycles : 2). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.178674 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.254ms + 17.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 17.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.756ms + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.129ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129292 ms (missed cycles : 3). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.129292 ms (missed cycles : 3).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.860ms + 18.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.386ms + 18.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.413ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733665 ms (missed cycles : 3). + 19.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733665 ms (missed cycles : 3).[0m ×2 + 19.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 19.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.984ms + 20.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.606ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241912 ms (missed cycles : 4). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241912 ms (missed cycles : 4).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.287ms + 20.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.609ms + 21.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.824ms + 21.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 21.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668197 ms (missed cycles : 3). + 21.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668197 ms (missed cycles : 3).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.822ms + 21.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.497ms + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321747 ms (missed cycles : 5). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.321747 ms (missed cycles : 5).[0m ×2 + 22.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.981ms + 22.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.575ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094466 ms (missed cycles : 2). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.094466 ms (missed cycles : 2).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.664ms + 23.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.991ms + 24.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104265 ms (missed cycles : 2). + 24.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104265 ms (missed cycles : 2).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.478ms + 24.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.356ms + 24.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.885ms + 25.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397504 ms (missed cycles : 3). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397504 ms (missed cycles : 3).[0m ×2 + 25.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.365ms + 26.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.228ms + 26.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010082 ms (missed cycles : 2). + 26.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.010082 ms (missed cycles : 2).[0m ×2 + 26.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.149ms + 27.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154943 ms (missed cycles : 4). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154943 ms (missed cycles : 4).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.453ms + 27.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.528ms + 27.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.800ms + 28.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.212ms + 28.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.956ms + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251976 ms (missed cycles : 2). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.251976 ms (missed cycles : 2).[0m ×2 + 28.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.208ms + 29.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.561ms + 29.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342511 ms (missed cycles : 3). + 29.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.342511 ms (missed cycles : 3).[0m ×2 + 29.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.021ms + 30.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.146ms + 30.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.134ms + 30.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.913ms + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369660 ms (missed cycles : 2). + 30.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.369660 ms (missed cycles : 2).[0m ×2 + 30.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.040ms + 31.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 31.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 31.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7). + 31.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.630ms + 32.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2). + 32.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 32.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.753ms + 32.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.584ms + 33.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 33.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.770ms + 33.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5). + 33.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5).[0m ×2 + 33.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.644ms + 33.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.918ms + 34.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.084ms + 34.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.276ms + 34.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 34.70sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782412028.91505837 seconds ×3 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2).[0m ×2 + 34.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.017ms + 35.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 35.26sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782412029.47260833 seconds. ×3 + 35.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 35.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 35.61sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 35.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2). + 35.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2).[0m ×2 + 35.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.967ms + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 36.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.533ms + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 36.85sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4). + 36.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4).[0m ×2 + 36.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 37.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.413ms + 37.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.8s | 57 warnings · 151 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.555ms + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.225ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794875 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794875 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.130ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564110 ms (missed cycles : 3). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564110 ms (missed cycles : 3).[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.335548 ms (missed cycles : 7). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.335548 ms (missed cycles : 7).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.536ms + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.092ms + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797618 ms (missed cycles : 2). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797618 ms (missed cycles : 2).[0m ×2 + 3.89sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.89sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.94sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782412221.94942188 seconds ×3 + 3.95sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.96sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.663ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.108ms + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782412222.51024818 seconds. ×3 + 4.55sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.55sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634337 ms (missed cycles : 4). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.634337 ms (missed cycles : 4).[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.608ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.202ms + 4.86sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.88sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.083ms + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938235 ms (missed cycles : 2). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938235 ms (missed cycles : 2).[0m ×2 + 5.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.027ms + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624690 ms (missed cycles : 3). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.624690 ms (missed cycles : 3).[0m ×2 + 6.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.051ms + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975898 ms (missed cycles : 3). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975898 ms (missed cycles : 3).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429040 ms (missed cycles : 6). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.429040 ms (missed cycles : 6).[0m ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (4.8e-07 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.18sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.145ms + 9.21sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 9.24sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.662ms + 9.48sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.155ms + 9.52sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 9.74sINFOobjective_server_nodeFound path in 29 iterations (0.0315786 s). ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348234 ms (missed cycles : 4). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.348234 ms (missed cycles : 4).[0m ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________X_____X] ×2 + 10.03sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.816ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.814ms + 10.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.79sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696080 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696080 ms (missed cycles : 2).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.885ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.795ms + 11.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.514ms + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.726ms + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559341 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559341 ms (missed cycles : 2).[0m ×2 + 12.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101749 ms (missed cycles : 2). + 13.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101749 ms (missed cycles : 2).[0m ×2 + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.298ms + 13.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.533ms + 13.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.279ms + 14.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2). + 14.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.899ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.939ms + 15.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.924ms + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3).[0m ×2 + 16.79sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782412234.79603887 seconds ×3 + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.487ms + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3). + 17.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3).[0m ×2 + 17.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.255ms + 17.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782412235.38765860 seconds. ×3 + 17.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.38sINFOmove_groupClearing octomap...[0m ×2 + 17.38sINFOmove_groupOctomap cleared.[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.693ms + 17.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.725ms + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms + 18.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782412236.07779527 seconds ×3 + 18.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.714ms + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2).[0m ×2 + 18.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.345ms + 18.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.388ms + 18.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782412236.62455034 seconds. ×3 + 18.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.722ms + 19.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782412237.09469938 seconds ×3 + 19.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.872ms + 19.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2). + 19.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2).[0m ×2 + 19.32sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.800ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.1s | 75 errors · 33 warnings · 400 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2).[0m ×2 + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.899ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2).[0m ×2 + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.939ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.924ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782412234.79603887 seconds ×3 + 2.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.487ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3).[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.255ms + 3.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782412235.38765860 seconds. ×3 + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.28sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.28sINFOmove_groupClearing octomap...[0m ×2 + 3.28sINFOmove_groupOctomap cleared.[0m ×2 + 3.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.693ms + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.725ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782412236.07779527 seconds ×3 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.714ms + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.345ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.388ms + 4.51sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782412236.62455034 seconds. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.722ms + 4.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782412237.09469938 seconds ×3 + 5.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.872ms + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2).[0m ×2 + 5.22sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.800ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.710ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.669ms ×2 + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.213ms + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.650ms + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182841 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182841 ms (missed cycles : 4).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915656 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915656 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.651ms + 8.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.839253 ms (missed cycles : 6). + 8.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.839253 ms (missed cycles : 6).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.743ms + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.790ms + 8.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.000ms + 8.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.906ms + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.629ms + 9.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.094ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185013 ms (missed cycles : 4). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185013 ms (missed cycles : 4).[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042390 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042390 ms (missed cycles : 2).[0m ×2 + 10.90sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.90sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.91sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.92sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.93sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 10.94sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.95sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.96sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 10.98sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.98sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.99sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.00sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 11.02sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 11.03sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 11.05sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 11.07sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 11.09sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 11.10sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.11sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 11.13sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 11.15sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 11.17sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 11.19sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 11.20sINFOcontroller_managerShutdown request received.... + 11.20sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.20sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.20sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.20sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.20sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.20sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.20sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.20sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.20sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.20sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.20sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.20sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.20sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.20sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.20sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.20sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.20sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.20sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.20sINFOcontroller_managerShutting down the controller manager. + 11.21sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 11.22sINFOweb_video_server-30process has finished cleanly [pid 9331] ×2 + 11.22sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.22sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9330] ×2 + 11.24sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 11.25sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 11.26sERRORmove_group-19process has died [pid 9261, 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_01nm8li3 --params-file /tmp/launch_params_tcu4akbo --params-file /tmp/launch_params_hlkeoyrr --params-file /tmp/launch_params_78vgvncg --params-file /tmp/launch_params_o8flxo0o --params-file /tmp/launch_params_4ym2oh44 --params-file /tmp/launch_params_qnv416cz --params-file /tmp/launch_params_9b4a840k --params-file /tmp/launch_params_8x5lo_z3']. ×2 + 11.27sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.29sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 11.31sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.31sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.31sINFOcontroller_serverCleaning up + 11.31sINFOlocal_costmap.local_costmapCleaning up + 11.31sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 11.31sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 11.31sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.31sINFOui_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 + 11.31sINFOui_teleop_bridgerclpy.shutdown() ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 11.31sINFOui_teleop_bridge_shutdown(context=context) ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 11.31sINFOui_teleop_bridgecontext.shutdown() ×2 + 11.31sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 11.31sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 11.31sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 11.31sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.31sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.32sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.32sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.32sERRORmove_groupStack trace (most recent call last) in thread 9819: ×2 + 11.32sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.32sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7526f5ea63, in __clone ×2 + 11.32sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7526ed1aa3, in ×2 + 11.32sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7527163db3, in ×2 + 11.32sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f75277b81c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.32sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f75274d64d0, in rclcpp::Rate::sleep() ×2 + 11.32sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7527429a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.32sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f75273eea71, in ×2 + 11.32sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7527132390, in __cxa_throw ×2 + 11.32sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f752711ca54, in std::terminate() ×2 + 11.32sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f75271320d9, in ×2 + 11.32sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f752711cff4, in ×2 + 11.32sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7526e5d8fe, in abort ×2 + 11.32sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7526e7a27d, in raise ×2 + 11.32sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7526ed3b2c, in pthread_kill ×2 + 11.32sERRORmove_groupAborted (Signal sent by tkill() 9261 0) ×2 + 11.32sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.32sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.32sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.32sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.32sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.32sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.32sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.32sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.32sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.32sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.32sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 11.32sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.33sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.33sINFOodom_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 + 11.33sINFOodom_qos_relay.pymain() ×2 + 11.33sINFOodom_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 + 11.33sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.33sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.33sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.33sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.33sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.33sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.33sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.33sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.33sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.33sINFOobjective_server_node[2026-06-25 18:30:43.369] [moveit_pro_license] [info] ×2 + 11.33sINFOobjective_server_node************************************************* ×4 + 11.33sINFOobjective_server_node* MoveIt Pro License ×2 + 11.33sINFOobjective_server_node* Application has successfully terminated ×2 + 11.33sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 11.33sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.33sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.33sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f59b5586a4, in _start ×2 + 11.33sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f63d715b28a, in __libc_start_main ×2 + 11.33sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f63d715b1d0, in ×2 + 11.33sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f63d7178bbd, in exit ×2 + 11.33sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f63d7178a75, in ×2 + 11.33sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f63d764a4a2, in spdlog::details::registry::~registry() ×2 + 11.33sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f63d765569d, 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 + 11.33sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7f63d764f965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f59b55f315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.33sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f59b55e5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.33sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f59b55ab7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.33sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55f59b558d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.33sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f63d7cf1454, in rclcpp::Node::~Node() ×2 + 11.33sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f63d7cac515, in ×2 + 11.33sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f63d7cefd20, in ×2 + 11.33sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f63d7cefc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.33sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f63d7cac5d9, in ×2 + 11.33sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f63d7cb1161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.33sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7f638665e120]) ×2 + 11.34sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.35sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 11.35sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.35sINFOsmoother_serverCleaning up + 11.37sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 11.37sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.37sINFOmap_serverDeactivating + 11.37sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.38sINFOmap_serverCleaning up + 11.38sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.38sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 11.38sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.38sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 11.38sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.38sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.40sERRORamclThe bond connection to the lifecycle manager has been broken + 11.40sERRORobjective_server_node_main-24process has died [pid 9325, 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_u2fxr9dz --params-file /tmp/launch_params_duus6w2v --params-file /tmp/launch_params_ot022t2e --params-file /tmp/launch_params_p2ha7f6y --params-file /tmp/launch_params_8kbmbdlv --params-file /tmp/launch_params_y5g2rsb8 --params-file /tmp/launch_params_z63szyot --params-file /tmp/launch_params_ilesagr2 --params-file /tmp/launch_params_u3j1_fxq']. ×2 + 11.41sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 11.41sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.41sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 11.41sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.41sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 11.41sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.41sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 11.41sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.41sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.41sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.42sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.14sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9324] ×2 + 12.16sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9264] ×2 + 12.16sERRORui_teleop_bridge-27process has died [pid 9328, 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_1sf9o2tf']. ×2 + 12.17sINFOexecute_objective_bridge-26process has finished cleanly [pid 9327] ×2 + 12.23sINFOparameter_manager_node-20process has finished cleanly [pid 9262] ×2 + 12.24sINFOwaypoint_manager_node-21process has finished cleanly [pid 9263] ×2 + 12.26sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9182] ×2 + 12.28sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9181] ×2 + 12.31sINFOstatic_transform_publisher-3process has finished cleanly [pid 9179] ×2 + 12.33sINFOstatic_transform_publisher-2process has finished cleanly [pid 9178] ×2 + 12.35sERRORodom_qos_relay.py-4process has died [pid 9180, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.97sERRORcomponent_container_isolated-1process has died [pid 9177, 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_xospuvhk --params-file /tmp/launch_params_a8h9ke8o -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.35sINFOcomponent_container_mt-25process has finished cleanly [pid 9326] ×2 + 13.69sINFOweb_bridge-28process has finished cleanly [pid 9329] ×2 + 13.69sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 14.02sINFOros2_control_node-7process has finished cleanly [pid 9183] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.6s | 3 errors · 51 warnings · 108 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.153ms + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.626ms + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517772 ms (missed cycles : 2). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517772 ms (missed cycles : 2).[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126196 ms (missed cycles : 5). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.126196 ms (missed cycles : 5).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.474ms + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.989ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.148ms + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253247 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.253247 ms (missed cycles : 3).[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575611 ms (missed cycles : 4). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.575611 ms (missed cycles : 4).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.747ms + 4.02sINFOjoint_trajectory_controllerGoal reached, success! + 4.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782412081.65275884 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 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.216ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.865ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.080ms + 4.62sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782412082.22072697 seconds. ×3 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754247 ms (missed cycles : 3). + 4.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.754247 ms (missed cycles : 3).[0m ×2 + 4.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.082ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610973 ms (missed cycles : 4). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610973 ms (missed cycles : 4).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.028ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.317ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.882ms + 6.31sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.608ms + 6.36sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.36sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.36sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.36sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.160ms + 6.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269193 ms (missed cycles : 3). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.269193 ms (missed cycles : 3).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.810ms + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.112ms + 7.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.047ms + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867026 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867026 ms (missed cycles : 3).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.097ms + 8.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.348ms + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.605ms + 8.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.906ms + 8.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444783 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444783 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.509ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.619ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.880ms + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966526 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966526 ms (missed cycles : 2).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.666ms + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.587ms + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.708ms + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542702 ms (missed cycles : 4). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.542702 ms (missed cycles : 4).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.956ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.250ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389177 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.389177 ms (missed cycles : 2).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.331ms + 12.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.571ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792848 ms (missed cycles : 2). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792848 ms (missed cycles : 2).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.795ms + 13.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.334ms + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281611 ms (missed cycles : 2). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281611 ms (missed cycles : 2).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.889ms + 14.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 14.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.975ms + 14.63sINFOjoint_trajectory_controllerGot request to cancel goal + 14.63sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.63sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.63sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.66sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782412092.26113844 seconds ×3 + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.563ms + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645266 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645266 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.629ms + 15.22sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782412092.81761384 seconds. ×3 + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.746ms + 15.56sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 15.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.050ms + 16.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.774ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557448 ms (missed cycles : 4). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.557448 ms (missed cycles : 4).[0m ×2 + 16.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.045ms + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.172ms + 16.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.633ms + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.179ms + 16.83sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.440610 ms (missed cycles : 6). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.440610 ms (missed cycles : 6).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 36 warnings · 67 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411992.31240797 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.547ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.682ms + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411992.88672829 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2). + 4.26sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.26sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2).[0m ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.504993 ms (missed cycles : 7). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.504993 ms (missed cycles : 7).[0m ×2 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145947 ms (missed cycles : 7). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.145947 ms (missed cycles : 7).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.999ms + 7.97sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782411996.97697759 seconds ×3 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961067 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961067 ms (missed cycles : 3).[0m ×2 + 9.53sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782411998.53490210 seconds. ×3 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712451 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712451 ms (missed cycles : 3).[0m ×2 + 9.89sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 10.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.019697 ms (missed cycles : 6). + 10.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.019697 ms (missed cycles : 6).[0m ×2 + 11.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179937 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179937 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.6s | 30 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.49sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411931.78756404 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411932.34950519 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (2.2301e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.07sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.07sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.07sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411935.42969966 seconds ×3 + 7.34sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.886ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226317 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226317 ms (missed cycles : 3).[0m ×2 + 7.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411935.98223448 seconds. ×3 + 7.86sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.674ms + 8.10sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953019 ms (missed cycles : 3). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953019 ms (missed cycles : 3).[0m ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101292 ms (missed cycles : 5). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101292 ms (missed cycles : 5).[0m ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 24 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101749 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101749 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.298ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.533ms + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.279ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 2.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.899ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.939ms + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.924ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782412234.79603887 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.487ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.255ms + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782412235.38765860 seconds. ×3 + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.59sINFOmove_groupClearing octomap...[0m ×2 + 4.59sINFOmove_groupOctomap cleared.[0m ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.693ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.725ms + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782412236.07779527 seconds ×3 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.714ms + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.345ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.388ms + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782412236.62455034 seconds. ×3 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.722ms + 6.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782412237.09469938 seconds ×3 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.872ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2).[0m ×2 + 6.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.800ms + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.710ms + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.669ms + 7.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.213ms + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.650ms + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182841 ms (missed cycles : 4). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182841 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411931.78756404 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411932.34950519 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (2.2301e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571817 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.123874 ms (missed cycles : 3).[0m ×2 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5).[0m ×2 + 3.49sINFOjoint_trajectory_controllerGoal reached, success! + 3.49sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411931.78756404 seconds ×3 + 3.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411932.34950519 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (2.2301e-05 s). ×2 + 5.04sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.06sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.06sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.07sINFOjoint_trajectory_controllerReceived new action goal + 5.07sINFOjoint_trajectory_controllerAccepted new action goal + 5.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.07sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5).[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411992.31240797 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.547ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.682ms + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411992.88672829 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2). + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2).[0m ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 24 warnings · 295 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.01sINFOros2-16process has finished cleanly [pid 9258] ×2 + 0.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.09sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.45sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.47sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.49sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.85sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.86sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.00sINFOros2Loaded joint_velocity_controller ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.74sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.76sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.76sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.80sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.80sINFOros2Loaded vacuum_gripper ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.83sINFOros2Configured and activated vacuum_gripper ×2 + 2.16sINFOros2-12process has finished cleanly [pid 9254] ×2 + 2.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.30sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.31sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOros2-18process has finished cleanly [pid 9260] ×2 + 3.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 3.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.22sINFOros2Loaded joint_trajectory_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 24 warnings · 295 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.01sINFOros2-16process has finished cleanly [pid 9258] ×2 + 0.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.09sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.45sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.47sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.49sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.85sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.86sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.00sINFOros2Loaded joint_velocity_controller ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.74sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.76sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.76sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.80sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.80sINFOros2Loaded vacuum_gripper ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.83sINFOros2Configured and activated vacuum_gripper ×2 + 2.16sINFOros2-12process has finished cleanly [pid 9254] ×2 + 2.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.30sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.31sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOros2-18process has finished cleanly [pid 9260] ×2 + 3.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 3.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.22sINFOros2Loaded joint_trajectory_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 60 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.130569 ms (missed cycles : 5).[0m ×2 + 0.31sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.31sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782411931.78756404 seconds ×3 + 0.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.92sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782411932.34950519 seconds. ×3 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830264 ms (missed cycles : 3).[0m ×2 + 1.86sINFOobjective_server_nodeFound path in 0 iterations (2.2301e-05 s). ×2 + 1.86sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.90sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.90sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.90sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.90sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.489161 ms (missed cycles : 5).[0m ×2 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663466 ms (missed cycles : 3).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782411935.42969966 seconds ×3 + 4.17sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 1.886ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226317 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.226317 ms (missed cycles : 3).[0m ×2 + 4.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782411935.98223448 seconds. ×3 + 4.69sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 1.674ms + 4.92sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953019 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953019 ms (missed cycles : 3).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101292 ms (missed cycles : 5). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.101292 ms (missed cycles : 5).[0m ×2 + 6.54sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411992.31240797 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.547ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.682ms + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411992.88672829 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2). + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2).[0m ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411992.31240797 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.547ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.682ms + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411992.88672829 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2). + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2).[0m ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411992.31240797 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.547ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.682ms + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411992.88672829 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2). + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2).[0m ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 18 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.281878 ms (missed cycles : 4).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444116 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823866 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215223 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.31sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782411992.31240797 seconds ×3 + 3.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.547ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.682ms + 3.88sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782411992.88672829 seconds. ×3 + 3.93sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 4.23sINFOobjective_server_nodeFound path in 0 iterations (3.61e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2). + 4.26sINFOjoint_trajectory_controllerReceived new action goal + 4.26sINFOjoint_trajectory_controllerAccepted new action goal + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320194 ms (missed cycles : 2).[0m ×2 + 4.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.614ms + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.646ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266708 ms (missed cycles : 2).[0m ×2 + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.040ms + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.630ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.753ms + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.584ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.770ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.644ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.918ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.084ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.276ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782412028.91505837 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.017ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782412029.47260833 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.967ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.533ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.413ms + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.040ms + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.630ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.753ms + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.584ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.770ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.644ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.918ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.084ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.276ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782412028.91505837 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.017ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782412029.47260833 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.967ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.533ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.413ms + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 55 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.040ms + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.108ms + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.132121 ms (missed cycles : 7).[0m ×2 + 1.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.630ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804962 ms (missed cycles : 2).[0m ×2 + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.753ms + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.584ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.510ms + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.770ms + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.767219 ms (missed cycles : 5).[0m ×2 + 3.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.644ms + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.918ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.084ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.276ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.07sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782412028.91505837 seconds ×3 + 4.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160480 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.017ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 4.67sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782412029.47260833 seconds. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.978ms + 5.02sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.404ms + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.702191 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.967ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.947ms + 5.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.533ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.140ms + 6.26sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045907 ms (missed cycles : 4).[0m ×2 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.31sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.413ms + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.643ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 24 warnings · 295 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.01sINFOros2-16process has finished cleanly [pid 9258] ×2 + 0.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.09sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.45sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.47sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.49sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.85sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.86sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.00sINFOros2Loaded joint_velocity_controller ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.74sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.76sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.76sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.80sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.80sINFOros2Loaded vacuum_gripper ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.83sINFOros2Configured and activated vacuum_gripper ×2 + 2.16sINFOros2-12process has finished cleanly [pid 9254] ×2 + 2.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.30sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.31sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOros2-18process has finished cleanly [pid 9260] ×2 + 3.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 3.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.22sINFOros2Loaded joint_trajectory_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 18 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.170ms + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 0.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.189ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.370001 ms (missed cycles : 3).[0m ×2 + 1.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.027ms + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.921ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.009563 ms (missed cycles : 7).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.020379 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 4.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2). + 4.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.937547 ms (missed cycles : 2).[0m ×2 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782412166.33788967 seconds ×3 + 4.15sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.994ms + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 4.70sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782412166.91925311 seconds. ×3 + 4.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.77sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842919 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.805ms + 5.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.688ms + 5.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.291ms + 5.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.318ms + 6.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.485ms + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311885 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.275ms + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 6.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.935ms + 6.81sINFOjoint_trajectory_controllerReceived new action goal + 6.81sINFOjoint_trajectory_controllerAccepted new action goal + 6.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.81sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.204ms + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101749 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101749 ms (missed cycles : 2).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.298ms + 0.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.533ms + 0.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.279ms + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802180 ms (missed cycles : 2).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.231ms + 2.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.899ms + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.717087 ms (missed cycles : 2).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.939ms + 3.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.924ms + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069765 ms (missed cycles : 3).[0m ×2 + 3.97sINFOjoint_trajectory_controllerGoal reached, success! + 3.97sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782412234.79603887 seconds ×3 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.487ms + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802489 ms (missed cycles : 3).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.255ms + 4.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782412235.38765860 seconds. ×3 + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.59sINFOmove_groupClearing octomap...[0m ×2 + 4.59sINFOmove_groupOctomap cleared.[0m ×2 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.693ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.725ms + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms + 5.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782412236.07779527 seconds ×3 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.714ms + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.585016 ms (missed cycles : 2).[0m ×2 + 5.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.345ms + 5.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.388ms + 5.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782412236.62455034 seconds. ×3 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.722ms + 6.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782412237.09469938 seconds ×3 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.872ms + 6.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2). + 6.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.191422 ms (missed cycles : 2).[0m ×2 + 6.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.800ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | clear_snapshot.xml | 26.5s | 15 errors · 297 warnings · 1095 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/2026-06-25-18-24-19-807315-8cf16951707b-9128 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.18sINFOstatic_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' + 13.19sINFOstatic_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' + 13.29sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.30sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.33sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.33sINFOcontroller_managerupdate rate is 600 Hz + 13.33sINFOcontroller_managerOverruns handling is : enabled + 13.33sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.34sWARNcontroller_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. + 13.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.39sINFOcontroller_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. + 13.42sINFOros2_control_node-7process started with pid [9183] ×2 + 13.42sINFOmove_group-19process started with pid [9261] ×2 + 13.44sINFOparameter_manager_node-20process started with pid [9262] ×2 + 13.44sINFOwaypoint_manager_node-21process started with pid [9263] ×2 + 13.44sINFOmove_joint_resampler_node-22process started with pid [9264] ×2 + 13.44sINFOmove_end_effector_resampler_node-23process started with pid [9324] ×2 + 13.44sINFOobjective_server_node_main-24process started with pid [9325] ×2 + 13.44sINFOcomponent_container_mt-25process started with pid [9326] ×2 + 13.44sINFOexecute_objective_bridge-26process started with pid [9327] ×2 + 13.44sINFOui_teleop_bridge-27process started with pid [9328] ×2 + 13.44sINFOweb_bridge-28process started with pid [9329] ×2 + 13.44sINFOtf2_web_republisher_node-29process started with pid [9330] ×2 + 13.44sINFOweb_video_server-30process started with pid [9331] ×2 + 13.45sINFOcontroller_serverCreating controller server + 13.45sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 13.45sINFOcomponent_container_isolated-1process started with pid [9177] ×2 + 13.45sINFOstatic_transform_publisher-2process started with pid [9178] ×2 + 13.45sINFOstatic_transform_publisher-3process started with pid [9179] ×2 + 13.45sINFOodom_qos_relay.py-4process started with pid [9180] ×2 + 13.45sINFOscan_to_scan_filter_chain-5process started with pid [9181] ×2 + 13.45sINFOscan_to_scan_filter_chain-6process started with pid [9182] ×2 + 13.45sINFOros2-8process started with pid [9184] ×2 + 13.45sINFOros2-9process started with pid [9251] ×2 + 13.45sINFOros2-10process started with pid [9252] ×2 + 13.45sINFOros2-11process started with pid [9253] ×2 + 13.45sINFOros2-12process started with pid [9254] ×2 + 13.45sINFOros2-13process started with pid [9255] ×2 + 13.45sINFOros2-14process started with pid [9256] ×2 + 13.45sINFOros2-15process started with pid [9257] ×2 + 13.45sINFOros2-16process started with pid [9258] ×2 + 13.45sINFOros2-17process started with pid [9259] ×2 + 13.45sINFOros2-18process started with pid [9260] ×2 + 13.48sINFOlocal_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. + 13.49sINFOlocal_costmap.local_costmapCreating Costmap + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707506 ms (missed cycles : 2). + 13.50sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.51sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.51sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.54sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 13.54sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 13.54sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 13.54sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 13.54sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 13.54sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 13.54sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.54sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 13.54sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 13.54sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 13.54sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 13.54sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 13.54sWARNros2_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 + 13.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.707506 ms (missed cycles : 2).[0m ×2 + 13.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 13.60sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.61sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 13.62sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 13.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.63sINFOsmoother_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. + 13.63sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 13.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 13.64sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 13.67sINFOsmoother_serverCreating smoother server + 13.68sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.71sINFOrobot_state_publisherRobot initialized + 13.71sINFOcontroller_managerReceived robot description from topic. + 13.71sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 13.71sINFOcomponent_container_mtRobot initialized[0m ×2 + 13.71sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 13.71sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 13.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 13.73sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 13.73sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 13.76sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 13.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 13.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.78sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.78sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 13.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 13.80sINFOmap_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. + 13.80sINFOmap_serverCreating + 13.80sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 13.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 13.85sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 13.85sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 13.86sINFOplanner_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. + 13.88sINFOplanner_serverCreating + 13.91sINFOglobal_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. + 13.92sINFOglobal_costmap.global_costmapCreating Costmap + 13.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 13.94sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 14.02sINFObehavior_server
behavior_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.05sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 14.05sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 14.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.07sINFOlifecycle_manager_localizationCreating + 14.08sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 14.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.10sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.10sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.10sINFOmap_serverConfiguring + 14.12sINFObt_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. + 14.14sINFObt_navigatorCreating + 14.14sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.14sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.15sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.15sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.18sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.18sINFOamclConfiguring + 14.19sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.19sINFOmap_serverActivating + 14.19sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.19sINFOwaypoint_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. + 14.19sINFOwaypoint_followerCreating + 14.20sWARNlaser_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. + 14.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 14.20sWARNlaser_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. + 14.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 14.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 14.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 14.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 14.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 14.21sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 14.21sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.230789 seconds + 14.21sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.21sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.21sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 14.21sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 14.21sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 14.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.22sWARNscan_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 + 14.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 14.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 14.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 14.22sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 14.22sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 14.22sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 14.22sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 14.23sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 14.23sINFOmove_groupLoaded robot model in 0.230789 seconds[0m ×2 + 14.23sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.23sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.23sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.23sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.25sINFOvelocity_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. + 14.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.28sINFOlifecycle_manager_navigationCreating + 14.29sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.30sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.30sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.30sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.31sINFOamclActivating + 14.31sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.32sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.33sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.33sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.33sINFOcontroller_serverConfiguring controller interface + 14.33sINFOcontroller_servergetting progress checker plugins.. + 14.33sINFOcontroller_servergetting goal checker plugins.. + 14.34sINFOcontroller_serverController frequency set to 20.0000Hz + 14.34sINFOlocal_costmap.local_costmapConfiguring + 14.35sINFOamclSubscribed to map_topic: /map + 14.35sINFOamclSubscribed to scan_topic: /scan_merged + 14.35sINFOamclCreated reinitialize_global_localization service + 14.36sINFOamclCreated request_nomotion_update service + 14.36sINFOamclA new map was received + 14.37sINFOamclInitializing particle filter instance + 14.37sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.40sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.44sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.44sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.45sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.49sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.49sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.50sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.52sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.52sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797778 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797778 ms (missed cycles : 2).[0m ×2 + 14.58sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.60sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.60sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.60sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.60sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.61sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.61sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.61sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.61sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.62sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.62sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.62sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.63sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.63sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.64sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.64sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.65sINFOcontroller_serverOptimizer reset + 14.67sINFOcontroller_serverController Server has FollowPath controllers available. + 14.70sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.70sINFOsmoother_serverConfiguring smoother server + 14.71sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.71sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.73sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.73sINFOplanner_serverConfiguring + 14.73sINFOglobal_costmap.global_costmapConfiguring + 14.73sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.74sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.75sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.75sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.75sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.79sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.79sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.80sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.85sFATALplanner_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 + 14.85sINFOplanner_serverCleaning up + 14.85sINFOglobal_costmap.global_costmapCleaning up + 14.85sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.91sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 14.91sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 14.95sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 14.95sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 14.95sWARNmove_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. + 14.95sWARNmove_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. + 14.95sWARNmove_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. + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.95sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 14.96sWARNmove_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 + 15.03sINFOamclParticle filter initialization completed + 15.03sINFOamclInitializing particles from estimated pose and covariance + 15.03sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.03sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.03sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.03sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.03sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.12sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 15.12sINFOros2waiting for service /controller_manager/list_controllers to become available... ×10 + 15.19sINFOwaypoint_manager_nodeLoaded robot model in 0.424221 seconds[0m ×2 + 15.19sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.19sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.45sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 15.45sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 15.45sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 15.45sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 15.45sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 15.45sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 15.45sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 15.45sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 15.45sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 15.45sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 15.45sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 15.45sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 15.46sINFOmove_groupStarting planning scene monitor[0m ×2 + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 15.46sINFOmove_groupListening to '/planning_scene'[0m ×2 + 15.46sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 15.46sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 15.46sINFOmove_groupListening to 'collision_object'[0m ×2 + 15.46sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 15.60sWARNwaypoint_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. + 15.60sWARNwaypoint_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. + 15.60sWARNwaypoint_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 + 15.60sWARNwaypoint_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. + 15.60sWARNwaypoint_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 + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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. + 15.61sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 15.61sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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 + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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. + 15.61sWARNwaypoint_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 + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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 + 15.62sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 15.62sWARNwaypoint_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. + 15.62sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 15.62sWARNwaypoint_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. + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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. + 15.62sWARNwaypoint_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. + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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. + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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. + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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. + 15.62sWARNwaypoint_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 + 15.62sWARNwaypoint_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. + 15.63sWARNwaypoint_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 + 15.63sWARNwaypoint_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. + 15.63sWARNwaypoint_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. + 15.63sWARNwaypoint_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. + 15.63sWARNwaypoint_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 + 15.63sWARNwaypoint_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 + 15.63sWARNwaypoint_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. + 15.63sWARNwaypoint_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 + 15.63sWARNwaypoint_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 + 16.04sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.04sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.27sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 16.27sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 16.27sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 16.27sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 16.27sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 16.27sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 16.27sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 16.28sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 16.28sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 16.28sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 16.28sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 16.28sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 16.28sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 16.28sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 16.28sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 16.28sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 16.28sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 16.28sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 16.28sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 16.28sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 16.28sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 16.28sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 16.28sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 16.30sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.30sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 16.31sWARNros2_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 + 16.38sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.38sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.38sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.39sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 16.39sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 16.42sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 16.42sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 16.42sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.42sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.43sINFOplatform_velocity_controller_nav2configure successful + 16.43sINFOros2_control_nodeconfigure successful[0m ×6 + 16.52sINFOamclParticle filter update iteration stats: 2240 particles 723 points - 3.143ms + 16.62sINFOobjective_server_node[2026-06-25 18:24:39.604] [moveit_pro_license] [info] ×2 + 16.62sINFOobjective_server_node************************************************* ×4 + 16.62sINFOobjective_server_node* MoveIt Pro License ×2 + 16.62sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 16.63sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.63sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 16.63sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 16.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 16.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 16.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 16.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724212 ms (missed cycles : 2). + 16.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724212 ms (missed cycles : 2).[0m ×2 + 16.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 16.67sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 16.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 16.73sINFOobjective_server_nodeLoaded robot model in 0.0252678 seconds[0m ×2 + 16.73sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 16.73sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 16.74sINFOspawner_velocity_force_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.75sINFOros2-13process has finished cleanly [pid 9255] ×2 + 16.75sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 16.75sINFOcontroller_managerLoading controller 'velocity_force_controller' + 16.75sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 16.75sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 16.88sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.88sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.88sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 16.88sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 16.92sWARNcomponent_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 + 16.93sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 16.93sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 16.97sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 16.97sINFOros2Loaded velocity_force_controller ×2 + 16.97sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 16.97sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 16.99sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 16.99sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 17.12sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 17.12sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 17.12sWARNobjective_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. + 17.12sWARNobjective_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. + 17.12sWARNobjective_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. + 17.12sWARNobjective_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 + 17.12sWARNobjective_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. + 17.12sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_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. + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 17.13sWARNobjective_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 + 17.13sWARNobjective_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 + 17.19sINFOobjective_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 + 17.19sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 17.21sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 17.21sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 17.21sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 17.21sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 17.21sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 17.21sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 17.21sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 17.29sINFOcomponent_container_mtLoaded robot model in 0.376983 seconds[0m ×2 + 17.29sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 17.29sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.34sINFOros2_control_node[2026-06-25 18:24:40.330] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 17.35sINFOros2_control_node[2026-06-25 18:24:40.334] [info] Controller state will be published at 10 Hz. ×2 + 17.35sINFOros2_control_node[2026-06-25 18:24:40.335] [info] VelocityForceController 'on_configure' succeeded. ×2 + 17.66sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 17.66sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 17.66sWARNplanning_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. + 17.66sWARNplanning_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. + 17.66sWARNplanning_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. + 17.66sWARNcomponent_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 + 17.66sWARNplanning_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. + 17.66sWARNcomponent_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 + 17.66sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.66sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.66sWARNcomponent_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 + 17.66sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.66sWARNcomponent_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 + 17.66sWARNcomponent_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 + 17.66sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.66sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.66sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNplanning_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. + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNplanning_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. + 17.67sWARNcomponent_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 + 17.67sWARNplanning_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. + 17.67sWARNcomponent_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 + 17.67sWARNplanning_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. + 17.67sWARNplanning_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. + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNcomponent_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 + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNcomponent_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 + 17.67sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 17.68sWARNplanning_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. + 17.68sWARNcomponent_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 + 17.68sWARNcomponent_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 + 17.68sWARNplanning_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. + 17.68sWARNplanning_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. + 17.68sWARNcomponent_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 + 17.68sWARNcomponent_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 + 17.69sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 17.69sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 17.69sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 17.70sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 17.70sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 17.70sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263077 ms (missed cycles : 3). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.263077 ms (missed cycles : 3).[0m ×2 + 17.75sINFOros2-15process has finished cleanly [pid 9257] ×2 + 17.78sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 17.78sINFOros2Loaded joint_state_broadcaster ×2 + 17.78sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 17.78sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 17.78sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 17.78sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 17.78sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 17.78sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 17.78sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 17.78sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 17.79sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 17.79sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 17.79sINFOcontroller_managerSuccessfully switched controllers! ×8 + 17.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 17.80sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 17.80sINFOros2Configured and activated joint_state_broadcaster ×2 + 17.92sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1782411879.785 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 18.01sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 18.01sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 18.07sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 18.07sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 18.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 18.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 18.08sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 18.08sINFOmove_groupMoveGroup debug mode is ON + 18.08sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 18.08sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.09sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.14sINFOros2-10process has finished cleanly [pid 9252] ×2 + 18.14sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 18.15sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.15sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 18.16sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.16sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.16sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.16sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.16sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 18.16sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 18.20sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 18.21sINFOros2Loaded platform_velocity_controller ×2 + 18.21sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.22sINFOplatform_velocity_controllerconfigure successful + 18.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.23sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 18.23sINFOros2Configured and activated platform_velocity_controller ×2 + 18.25sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.25sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.26sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.26sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 18.26sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 18.26sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 18.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 18.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 18.32sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 18.35sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 18.44sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 18.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 18.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.53sINFOmove_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
********************************************************
+ 18.54sINFOmove_group ×8 + 18.54sINFOmove_group******************************************************** ×4 + 18.54sINFOmove_group* MoveGroup using: ×2 + 18.54sINFOmove_group* - apply_planning_scene_service ×2 + 18.54sINFOmove_group* - clear_octomap_service ×2 + 18.54sINFOmove_group* - ExecuteTaskSolution ×2 + 18.54sINFOmove_group* - get_group_urdf ×2 + 18.54sINFOmove_group* - load_geometry_from_file ×2 + 18.54sINFOmove_group* - get_planning_scene_service ×2 + 18.54sINFOmove_group* - kinematics_service ×2 + 18.54sINFOmove_group* - save_geometry_to_file ×2 + 18.54sINFOmove_group* - GetPlanningGroups ×2 + 18.54sINFOmove_group* - SetActiveControllerService ×2 + 18.54sINFOmove_group* - URDFPlanningSceneCapability ×2 + 18.54sINFOmove_group[0m ×2 + 18.54sINFOmove_group[92mYou can start planning now![0m ×2 + 18.55sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.55sINFOcomponent_container_mtStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.55sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.55sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.56sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.56sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.56sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.56sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.56sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.56sINFOstreaming_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) + 18.56sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 18.56sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.56sINFOcomponent_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 + 18.56sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 18.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 18.60sINFOros2-11process has finished cleanly [pid 9253] ×2 + 18.65sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 18.65sINFOros2Loaded arm_only_velocity_force_controller ×2 + 18.65sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.65sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2). + 18.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267619 ms (missed cycles : 2).[0m ×2 + 19.03sINFOros2_control_node[2026-06-25 18:24:42.021] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.04sINFOros2_control_node[2026-06-25 18:24:42.024] [info] Controller state will be published at 10 Hz. ×2 + 19.04sINFOros2_control_node[2026-06-25 18:24:42.025] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.39sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 19.39sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 19.39sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 19.39sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 19.39sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 19.40sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 19.40sINFOros2-16process has finished cleanly [pid 9258] ×2 + 19.46sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 19.47sINFOros2Loaded imu_sensor_broadcaster ×2 + 19.47sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 19.47sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 19.47sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 19.47sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 19.48sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 19.48sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 19.50sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 19.79sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.79sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.79sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.79sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.79sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 19.80sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 19.84sINFOros2-9process has finished cleanly [pid 9251] ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 19.86sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 19.87sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 19.87sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 19.87sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 19.87sINFOforce_torque_sensor_broadcasterconfigure successful + 19.88sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 19.88sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 19.88sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 19.88sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 20.24sINFOros2-8process has finished cleanly [pid 9184] ×2 + 20.26sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 20.26sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.26sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 20.26sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.26sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 20.36sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 20.36sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 20.39sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 20.39sINFOros2Loaded joint_velocity_controller ×2 + 20.39sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 20.39sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 20.77sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 20.78sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 20.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 21.13sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.13sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.13sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.13sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.13sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 21.13sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 21.15sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.15sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.15sINFOros2-17process has finished cleanly [pid 9259] ×2 + 21.19sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 21.19sINFOros2Loaded vacuum_gripper ×2 + 21.21sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.21sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.21sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.21sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.21sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.21sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.22sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 21.22sINFOros2Configured and activated vacuum_gripper ×2 + 21.56sINFOros2-12process has finished cleanly [pid 9254] ×2 + 21.63sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 21.63sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 21.63sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 21.63sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 21.63sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 21.63sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 21.70sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 21.70sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 21.70sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 21.70sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 21.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 21.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 22.09sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 22.09sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.47sINFOros2-18process has finished cleanly [pid 9260] ×2 + 22.51sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 22.52sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.52sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.52sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.52sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.52sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 22.53sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 22.61sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 22.62sINFOros2Loaded joint_trajectory_controller ×2 + 22.62sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.62sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.62sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.62sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.62sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.62sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.62sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.62sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.62sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.63sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.63sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.63sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.63sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 22.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 22.96sINFOros2-14process has finished cleanly [pid 9256] ×2 + 23.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 23.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 23.25sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 23.25sINFOmove_groupClearing octomap...[0m ×2 + 23.25sINFOmove_groupOctomap cleared.[0m ×2 + 23.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 23.82sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 23.83sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 23.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 24.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 24.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 25.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 25.13sINFOobjective_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 + 25.14sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.14sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 25.14sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.14sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.14sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 25.14sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 25.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 25.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 25.17sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 25.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 25.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 25.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 25.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 25.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 25.76sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 25.76sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 25.76sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 25.76sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 25.76sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 25.76sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 26.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 26.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 30 warnings · 278 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.05sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.07sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.09sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.45sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.46sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.46sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.60sINFOros2Loaded joint_velocity_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.98sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.99sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.34sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.34sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.34sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.34sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.36sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.36sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.40sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.40sINFOros2Loaded vacuum_gripper ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.41sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.43sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.43sINFOros2Configured and activated vacuum_gripper ×2 + 1.76sINFOros2-12process has finished cleanly [pid 9254] ×2 + 1.84sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.84sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.84sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.84sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.84sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.91sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.91sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.30sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.30sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.68sINFOros2-18process has finished cleanly [pid 9260] ×2 + 2.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.73sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.73sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.73sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.73sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.82sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.82sINFOros2Loaded joint_trajectory_controller ×2 + 2.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.83sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.83sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.83sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.83sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.17sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.34sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.03sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 7.03sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.30sINFOjoint_trajectory_controllerReceived new action goal + 7.30sINFOjoint_trajectory_controllerAccepted new action goal + 7.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 297 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.01sINFOros2-16process has finished cleanly [pid 9258] ×2 + 0.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.09sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.45sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.47sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.49sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.85sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.86sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.00sINFOros2Loaded joint_velocity_controller ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.74sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.76sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.76sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.80sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.80sINFOros2Loaded vacuum_gripper ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.83sINFOros2Configured and activated vacuum_gripper ×2 + 2.16sINFOros2-12process has finished cleanly [pid 9254] ×2 + 2.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.30sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.31sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOros2-18process has finished cleanly [pid 9260] ×2 + 3.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 3.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.22sINFOros2Loaded joint_trajectory_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[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 | 24 warnings · 295 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.01sINFOros2-16process has finished cleanly [pid 9258] ×2 + 0.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.09sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.45sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.47sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.49sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.85sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.86sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.00sINFOros2Loaded joint_velocity_controller ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.74sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.76sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.76sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.80sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.80sINFOros2Loaded vacuum_gripper ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.83sINFOros2Configured and activated vacuum_gripper ×2 + 2.16sINFOros2-12process has finished cleanly [pid 9254] ×2 + 2.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.30sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.31sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOros2-18process has finished cleanly [pid 9260] ×2 + 3.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 3.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.22sINFOros2Loaded joint_trajectory_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 24 warnings · 295 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.01sINFOros2-16process has finished cleanly [pid 9258] ×2 + 0.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.09sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.45sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.47sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.49sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.85sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.86sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.00sINFOros2Loaded joint_velocity_controller ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.74sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.76sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.76sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.80sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.80sINFOros2Loaded vacuum_gripper ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.83sINFOros2Configured and activated vacuum_gripper ×2 + 2.16sINFOros2-12process has finished cleanly [pid 9254] ×2 + 2.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.30sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.31sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOros2-18process has finished cleanly [pid 9260] ×2 + 3.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 3.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.22sINFOros2Loaded joint_trajectory_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 24 warnings · 295 info |
+ 0.00sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.01sINFOros2-16process has finished cleanly [pid 9258] ×2 + 0.07sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.07sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.08sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.09sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.09sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.11sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.40sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.40sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.40sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.40sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.40sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.41sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.45sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.47sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.47sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.48sINFOforce_torque_sensor_broadcasterconfigure successful + 0.48sINFOros2_control_nodeconfigure successful[0m ×2 + 0.49sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.49sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.49sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.49sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.85sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.86sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.86sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.87sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.87sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.87sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.87sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.97sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.97sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.00sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.00sINFOros2Loaded joint_velocity_controller ×2 + 1.00sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.00sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.02sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.02sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.74sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.74sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.74sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.74sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.74sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.74sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.76sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.76sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.76sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.80sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.80sINFOros2Loaded vacuum_gripper ×2 + 1.81sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.81sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.82sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.82sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.82sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.82sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.83sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.83sINFOros2Configured and activated vacuum_gripper ×2 + 2.16sINFOros2-12process has finished cleanly [pid 9254] ×2 + 2.24sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.24sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 2.24sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.24sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.24sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 2.24sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.30sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 2.31sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 2.31sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 2.31sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.70sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.08sINFOros2-18process has finished cleanly [pid 9260] ×2 + 3.12sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.13sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 3.13sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 3.13sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 3.13sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 3.13sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 3.14sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 3.22sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 3.22sINFOros2Loaded joint_trajectory_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 3.23sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 3.23sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 3.23sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 3.23sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 3.23sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 3.23sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 3.23sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 3.23sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 3.24sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 3.24sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 3.24sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 3.32sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.57sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.86sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.86sINFOmove_groupClearing octomap...[0m ×2 + 3.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.87sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.44sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.74sINFOobjective_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 + 5.74sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.74sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.75sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.75sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.75sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.75sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.76sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.76sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.78sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.78sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.79sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.79sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 6.36sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 6.37sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.37sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.37sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.37sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.37sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 269 info |
+ 0.00sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.00sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.05sINFOros2-9process has finished cleanly [pid 9251] ×2 + 0.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3). + 0.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448284 ms (missed cycles : 3).[0m ×2 + 0.07sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.07sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.08sINFOforce_torque_sensor_broadcasterconfigure successful + 0.08sINFOros2_control_nodeconfigure successful[0m ×2 + 0.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.09sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.09sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.45sINFOros2-8process has finished cleanly [pid 9184] ×2 + 0.46sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.46sINFOros2waiting for service /controller_manager/list_controllers to become available... ×4 + 0.47sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.47sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.57sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.57sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.60sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.60sINFOros2Loaded joint_velocity_controller ×2 + 0.60sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.60sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.62sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.98sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.99sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 1.34sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 1.34sINFOcontroller_managerLoading controller 'vacuum_gripper' + 1.34sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 1.34sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 1.34sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.34sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.36sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.36sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.36sINFOros2-17process has finished cleanly [pid 9259] ×2 + 1.40sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 1.40sINFOros2Loaded vacuum_gripper ×2 + 1.41sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 1.41sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 1.42sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 1.42sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.42sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 1.42sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 1.43sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 1.43sINFOros2Configured and activated vacuum_gripper ×2 + 1.76sINFOros2-12process has finished cleanly [pid 9254] ×2 + 1.84sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.84sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 1.84sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.84sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.84sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 1.84sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.91sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 1.91sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 1.91sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 1.91sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 2.30sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 2.30sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.68sINFOros2-18process has finished cleanly [pid 9260] ×2 + 2.72sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 2.73sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 2.73sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 2.73sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 2.73sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 2.73sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 2.74sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 2.82sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.82sINFOros2Loaded joint_trajectory_controller ×2 + 2.83sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.83sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 2.83sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.83sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.83sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 2.83sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 2.83sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.83sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 2.83sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.83sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 2.84sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.84sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.84sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.92sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 3.17sINFOros2-14process has finished cleanly [pid 9256] ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.46sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.46sINFOmove_groupClearing octomap...[0m ×2 + 3.46sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 4.04sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 4.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 5.34sINFOobjective_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 + 5.34sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.35sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.35sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.35sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.35sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.38sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.38sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.39sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.39sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 5.96sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 5.97sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.97sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.97sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.97sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.97sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 6.52sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 27 warnings · 225 info |
+ 0.00sINFOros2_control_node[2026-06-25 18:24:43.760] [info] Controller state will be published at 20 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 18:24:43.762] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2). + 0.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057649 ms (missed cycles : 2).[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 0.35sINFOcontroller_managerLoading controller 'vacuum_gripper' + 0.35sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 0.36sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.36sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.37sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.37sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.38sINFOros2-17process has finished cleanly [pid 9259] ×2 + 0.42sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 0.42sINFOros2Loaded vacuum_gripper ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 0.43sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 0.43sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 0.44sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 0.44sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.45sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 0.45sINFOros2Configured and activated vacuum_gripper ×2 + 0.78sINFOros2-12process has finished cleanly [pid 9254] ×2 + 0.86sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.86sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 0.86sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 0.86sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.86sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 0.86sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 0.92sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 0.92sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 0.93sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 0.93sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 0.95sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.95sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.950573 ms (missed cycles : 3).[0m ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.074] [info] Controller state will be published at 20 Hz. ×2 + 1.31sINFOros2_control_node[2026-06-25 18:24:45.076] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.70sINFOros2-18process has finished cleanly [pid 9260] ×2 + 1.74sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 1.74sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 1.75sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.75sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.75sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.75sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.75sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu + 1.75sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_wwo07396 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_xgtv5fgx --params-file /tmp/launch_params_bltvdmtu [0m ×2 + 1.84sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.84sINFOros2Loaded joint_trajectory_controller ×2 + 1.84sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.84sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.84sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.84sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.85sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.85sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.85sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.85sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.85sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.85sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.85sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.86sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.86sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.327379 ms (missed cycles : 2).[0m ×2 + 2.18sINFOros2-14process has finished cleanly [pid 9256] ×2 + 2.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782411886.23797464 seconds. ×3 + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.48sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.48sINFOmove_groupClearing octomap...[0m ×2 + 2.48sINFOmove_groupOctomap cleared.[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782411886.24825168 seconds ×3 + 3.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782411886.80343747 seconds. ×3 + 3.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782411886.81357360 seconds ×3 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862835 ms (missed cycles : 3).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782411887.36293507 seconds. ×3 + 3.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782411887.51347899 seconds ×3 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328467 ms (missed cycles : 2).[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782411888.09619975 seconds. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.36sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.36sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.36sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.36sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.36sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.37sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.38sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.38sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.40sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.40sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782411888.17644882 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782411888.73528552 seconds. ×3 + 4.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.99sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.99sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.99sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.99sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591343 ms (missed cycles : 2).[0m ×2 + 5.53sINFOros2_control_nodeMuJoCo sim: 0.98% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.05sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 6.05sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.31sINFOjoint_trajectory_controllerReceived new action goal + 6.31sINFOjoint_trajectory_controllerAccepted new action goal + 6.31sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 | ||||