67
Total objective tests
16
Objectives passed
0
Objectives failed
51
Objectives skipped
23.6s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives12 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.3s | 3 errors · 237 warnings · 256 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.609ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128979 ms (missed cycles : 3). + 0.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128979 ms (missed cycles : 3).[0m ×2 + 0.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.424ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.449ms + 0.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.149ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.130ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031553 ms (missed cycles : 2). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031553 ms (missed cycles : 2).[0m ×2 + 1.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.451ms + 2.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699405 ms (missed cycles : 2). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699405 ms (missed cycles : 2).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.238ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.080ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms + 3.30sINFOjoint_trajectory_controllerGot request to cancel goal + 3.30sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.30sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.30sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.30sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782430114.40829611 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.32sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.655ms + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747655 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747655 ms (missed cycles : 3).[0m ×2 + 3.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.692ms + 3.85sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782430114.95258307 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.445ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.282ms + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113392 ms (missed cycles : 5). + 4.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113392 ms (missed cycles : 5).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.260ms ×2 + 5.12sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 5.15sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.15sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.15sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.15sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.950ms + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703790 ms (missed cycles : 6). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703790 ms (missed cycles : 6).[0m ×2 + 5.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.340ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.546ms + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms + 6.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.428950 ms (missed cycles : 6). + 6.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.428950 ms (missed cycles : 6).[0m ×2 + 7.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.178ms + 7.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.835335 ms (missed cycles : 8). + 7.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.835335 ms (missed cycles : 8).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.773ms + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.664ms + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695468 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.695468 ms (missed cycles : 2).[0m ×2 + 9.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.304ms + 9.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.000ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510892 ms (missed cycles : 4). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.510892 ms (missed cycles : 4).[0m ×2 + 10.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.410ms + 10.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.752ms + 10.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.703ms + 10.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826356 ms (missed cycles : 3). + 10.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826356 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.425ms + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.136ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704837 ms (missed cycles : 5). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.704837 ms (missed cycles : 5).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.972ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.294ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077897 ms (missed cycles : 2). + 13.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077897 ms (missed cycles : 2).[0m ×2 + 13.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.113ms + 13.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.466ms + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681151 ms (missed cycles : 2). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681151 ms (missed cycles : 2).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.796ms + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.438ms + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.441ms + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms ×2 + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.629982 ms (missed cycles : 6). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.629982 ms (missed cycles : 6).[0m ×2 + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.234ms + 15.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.669ms + 16.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540416 ms (missed cycles : 2). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540416 ms (missed cycles : 2).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.901ms + 16.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.212ms + 17.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.895ms + 17.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353640 ms (missed cycles : 3). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353640 ms (missed cycles : 3).[0m ×2 + 17.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.158ms + 18.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.755ms + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629464 ms (missed cycles : 3). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629464 ms (missed cycles : 3).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.829ms + 19.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.573ms + 19.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765426 ms (missed cycles : 3). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765426 ms (missed cycles : 3).[0m ×2 + 19.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.257ms + 19.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.415ms + 20.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.978ms + 20.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.387ms + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243338 ms (missed cycles : 5). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.243338 ms (missed cycles : 5).[0m ×2 + 20.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.518ms + 21.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.686ms + 21.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759820 ms (missed cycles : 4). + 21.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.759820 ms (missed cycles : 4).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.788ms + 22.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.090ms + 22.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.859ms + 22.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.136ms + 22.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845746 ms (missed cycles : 5). + 22.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.845746 ms (missed cycles : 5).[0m ×2 + 22.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.040ms + 23.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.328ms + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.418866 ms (missed cycles : 7). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.418866 ms (missed cycles : 7).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.866ms + 24.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.908ms + 24.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.065ms + 24.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.125ms + 24.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344514 ms (missed cycles : 3). + 24.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344514 ms (missed cycles : 3).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.918ms + 25.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.233ms + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709421 ms (missed cycles : 3). + 25.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709421 ms (missed cycles : 3).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.641ms + 26.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.109ms + 26.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809322 ms (missed cycles : 2). + 26.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809322 ms (missed cycles : 2).[0m ×2 + 27.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.113ms + 27.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.721ms + 27.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.599ms + 27.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761815 ms (missed cycles : 2). + 27.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761815 ms (missed cycles : 2).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.933ms + 28.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.489ms + 28.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.145ms + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904148 ms (missed cycles : 2). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904148 ms (missed cycles : 2).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.677ms + 29.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.630ms + 29.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.138ms + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352439 ms (missed cycles : 2). + 29.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.352439 ms (missed cycles : 2).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.769ms + 30.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.360ms + 31.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219804 ms (missed cycles : 4). + 31.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.219804 ms (missed cycles : 4).[0m ×2 + 31.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.886ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477354 ms (missed cycles : 3). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477354 ms (missed cycles : 3).[0m ×2 + 32.46sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 32.46sINFOros2_control_nodeGoal reached, success![0m ×8 + 32.96sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786341 ms (missed cycles : 3). + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786341 ms (missed cycles : 3).[0m ×2 + 33.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.061ms + 33.62sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×9 + 33.62sINFOobjective_server_nodePlanning for 34 path waypoints. ×3 + 33.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.420ms + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767974 ms (missed cycles : 4). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.767974 ms (missed cycles : 4).[0m ×2 + 35.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030563 ms (missed cycles : 2). + 35.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.030563 ms (missed cycles : 2).[0m ×2 + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.780ms + 36.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488306 ms (missed cycles : 3). + 36.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488306 ms (missed cycles : 3).[0m ×2 + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.534ms + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.666ms + 37.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248409 ms (missed cycles : 2). + 37.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.248409 ms (missed cycles : 2).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.260ms + 37.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.014ms + 38.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.925ms + 38.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.164ms + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742729 ms (missed cycles : 2). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.742729 ms (missed cycles : 2).[0m ×2 + 38.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.321ms + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494381 ms (missed cycles : 4). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494381 ms (missed cycles : 4).[0m ×2 + 40.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.778ms + 40.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314195 ms (missed cycles : 2). + 40.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314195 ms (missed cycles : 2).[0m ×2 + 40.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.402ms + 41.40sINFOros2_control_nodeMuJoCo sim: 0.18% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 41.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679149 ms (missed cycles : 2). + 41.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679149 ms (missed cycles : 2).[0m ×2 + 42.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.185ms + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396155 ms (missed cycles : 2). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.396155 ms (missed cycles : 2).[0m ×2 + 43.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.310ms + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103407 ms (missed cycles : 5). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103407 ms (missed cycles : 5).[0m ×2 + 43.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.190ms + 44.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338706 ms (missed cycles : 2). + 44.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338706 ms (missed cycles : 2).[0m ×2 + 44.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.077ms + 44.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.013ms + 45.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.330ms + 45.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762296 ms (missed cycles : 2). + 45.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762296 ms (missed cycles : 2).[0m ×2 + 46.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.501ms + 46.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287755 ms (missed cycles : 2). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.287755 ms (missed cycles : 2).[0m ×2 + 46.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.638ms + 47.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.135ms + 47.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 47.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.795ms + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909450 ms (missed cycles : 2). + 47.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.909450 ms (missed cycles : 2).[0m ×2 + 48.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.230ms + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776169 ms (missed cycles : 3). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.776169 ms (missed cycles : 3).[0m ×2 + 49.22sINFOobjective_server_nodePlanning for 36 path waypoints. ×6 + 49.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.659ms + 49.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.302ms + 50.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914804 ms (missed cycles : 3). + 50.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914804 ms (missed cycles : 3).[0m ×2 + 51.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892571 ms (missed cycles : 2). + 51.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.892571 ms (missed cycles : 2).[0m ×2 + 51.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.910ms + 51.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.151ms + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358275 ms (missed cycles : 3). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358275 ms (missed cycles : 3).[0m ×2 + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439273 ms (missed cycles : 2). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.439273 ms (missed cycles : 2).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.645ms + 53.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.125ms + 53.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.146ms + 54.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354684 ms (missed cycles : 3). + 54.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354684 ms (missed cycles : 3).[0m ×2 + 54.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.986ms + 55.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910387 ms (missed cycles : 3). + 55.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.910387 ms (missed cycles : 3).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.129ms + 55.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.652ms + 56.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.297ms + 56.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806295 ms (missed cycles : 3). + 56.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806295 ms (missed cycles : 3).[0m ×2 + 57.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.621ms + 57.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557604 ms (missed cycles : 4). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.557604 ms (missed cycles : 4).[0m ×2 + 58.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.689ms + 58.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.978ms + 58.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.809ms + 58.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.044ms + 58.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093958 ms (missed cycles : 5). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.093958 ms (missed cycles : 5).[0m ×2 + 59.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032955 ms (missed cycles : 4). + 59.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.032955 ms (missed cycles : 4).[0m ×2 + 59.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.683ms + 60.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151124 ms (missed cycles : 2). + 60.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151124 ms (missed cycles : 2).[0m ×2 + 60.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.907ms + 61.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462884 ms (missed cycles : 3). + 61.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.462884 ms (missed cycles : 3).[0m ×2 + 61.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.775ms + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706225 ms (missed cycles : 2). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706225 ms (missed cycles : 2).[0m ×2 + 63.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803008 ms (missed cycles : 2). + 63.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.803008 ms (missed cycles : 2).[0m ×2 + 64.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.611ms + 64.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.769ms + 64.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691168 ms (missed cycles : 2). + 64.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.691168 ms (missed cycles : 2).[0m ×2 + 65.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615686 ms (missed cycles : 2). + 65.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615686 ms (missed cycles : 2).[0m ×2 + 67.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147783 ms (missed cycles : 4). + 67.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147783 ms (missed cycles : 4).[0m ×2 + 67.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.238ms + 67.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.936ms + 67.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.617ms + 68.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859701 ms (missed cycles : 2). + 68.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859701 ms (missed cycles : 2).[0m ×2 + 69.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850770 ms (missed cycles : 5). + 69.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.850770 ms (missed cycles : 5).[0m ×2 + 69.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.487ms + 69.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.152ms + 70.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881119 ms (missed cycles : 4). + 70.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.881119 ms (missed cycles : 4).[0m ×2 + 70.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.874ms + 71.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645244 ms (missed cycles : 3). + 71.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645244 ms (missed cycles : 3).[0m ×2 + 71.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.729ms + 72.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373406 ms (missed cycles : 2). + 72.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373406 ms (missed cycles : 2).[0m ×2 + 72.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.405ms + 73.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 73.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 73.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 73.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 74.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 74.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 74.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 75.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 75.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 75.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 76.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 76.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 76.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 76.56sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 76.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 77.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 77.11sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 77.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 77.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 77.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 77.48sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 77.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 77.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 78.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 78.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 78.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 78.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 78.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 79.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 79.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 79.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 79.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 79.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 56.4s | 186 warnings · 173 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2).[0m ×2 + 0.15sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.15sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782429954.29500175 seconds ×3 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.37sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 1.618ms + 0.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782429954.83544588 seconds. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.605ms + 1.58sINFOobjective_server_nodeFound path in 0 iterations (3.075e-05 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782429957.81553411 seconds ×3 + 3.89sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.492ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857343 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857343 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782429958.35770464 seconds. ×3 + 4.49sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.292ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968733 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968733 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773642 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773642 ms (missed cycles : 2).[0m ×2 + 7.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544422 ms (missed cycles : 3). + 7.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.544422 ms (missed cycles : 3).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.129ms + 8.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727219 ms (missed cycles : 5). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.727219 ms (missed cycles : 5).[0m ×2 + 8.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 9.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449792 ms (missed cycles : 4). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449792 ms (missed cycles : 4).[0m ×2 + 9.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 10.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690060 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690060 ms (missed cycles : 3).[0m ×2 + 10.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 11.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655938 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.655938 ms (missed cycles : 2).[0m ×2 + 11.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 12.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 12.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673218 ms (missed cycles : 2). + 12.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673218 ms (missed cycles : 2).[0m ×2 + 12.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 13.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165403 ms (missed cycles : 3). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165403 ms (missed cycles : 3).[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.756ms + 14.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788945 ms (missed cycles : 2). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.788945 ms (missed cycles : 2).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112032 ms (missed cycles : 2). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112032 ms (missed cycles : 2).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 16.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049790 ms (missed cycles : 2). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049790 ms (missed cycles : 2).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.789ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 17.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198351 ms (missed cycles : 5). + 17.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.198351 ms (missed cycles : 5).[0m ×2 + 17.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms + 18.38sINFOros2_control_nodeMuJoCo sim: 0.01% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608412 ms (missed cycles : 2). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.608412 ms (missed cycles : 2).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 19.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 19.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400248 ms (missed cycles : 3). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400248 ms (missed cycles : 3).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088734 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088734 ms (missed cycles : 2).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779643 ms (missed cycles : 4). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.779643 ms (missed cycles : 4).[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms ×3 + 23.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977003 ms (missed cycles : 2). + 23.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977003 ms (missed cycles : 2).[0m ×2 + 23.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542364 ms (missed cycles : 4). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.542364 ms (missed cycles : 4).[0m ×2 + 24.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 25.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545381 ms (missed cycles : 3). + 25.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545381 ms (missed cycles : 3).[0m ×2 + 25.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.769ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 26.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448680 ms (missed cycles : 3). + 26.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.448680 ms (missed cycles : 3).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752500 ms (missed cycles : 5). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.752500 ms (missed cycles : 5).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.817ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 28.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716686 ms (missed cycles : 2). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.716686 ms (missed cycles : 2).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.812ms + 29.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050749 ms (missed cycles : 4). + 29.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.050749 ms (missed cycles : 4).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.771ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 30.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476799 ms (missed cycles : 6). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.476799 ms (missed cycles : 6).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.690ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208343 ms (missed cycles : 5). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.208343 ms (missed cycles : 5).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.926275 ms (missed cycles : 7). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.926275 ms (missed cycles : 7).[0m ×2 + 32.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 33.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 33.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372037 ms (missed cycles : 4). + 33.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.372037 ms (missed cycles : 4).[0m ×2 + 34.54sWARNobjective_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 + 34.54sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191838 ms (missed cycles : 2). + 34.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191838 ms (missed cycles : 2).[0m ×2 + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709316 ms (missed cycles : 8). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.709316 ms (missed cycles : 8).[0m ×2 + 36.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.708ms + 36.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806043 ms (missed cycles : 3). + 36.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806043 ms (missed cycles : 3).[0m ×2 + 37.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670616 ms (missed cycles : 2). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.670616 ms (missed cycles : 2).[0m ×2 + 38.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 38.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158288 ms (missed cycles : 5). + 38.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.158288 ms (missed cycles : 5).[0m ×2 + 39.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970820 ms (missed cycles : 6). + 39.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.970820 ms (missed cycles : 6).[0m ×2 + 40.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213537 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213537 ms (missed cycles : 2).[0m ×2 + 41.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 41.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489218 ms (missed cycles : 3). + 41.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489218 ms (missed cycles : 3).[0m ×2 + 43.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716565 ms (missed cycles : 5). + 43.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.716565 ms (missed cycles : 5).[0m ×2 + 44.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028653 ms (missed cycles : 2). + 44.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.028653 ms (missed cycles : 2).[0m ×2 + 45.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419284 ms (missed cycles : 3). + 45.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419284 ms (missed cycles : 3).[0m ×2 + 45.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 46.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262027 ms (missed cycles : 3). + 46.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.262027 ms (missed cycles : 3).[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397990 ms (missed cycles : 3). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397990 ms (missed cycles : 3).[0m ×2 + 47.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940610 ms (missed cycles : 3). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940610 ms (missed cycles : 3).[0m ×2 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491232 ms (missed cycles : 4). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.491232 ms (missed cycles : 4).[0m ×2 + 50.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723829 ms (missed cycles : 2). + 50.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723829 ms (missed cycles : 2).[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.762ms + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093577 ms (missed cycles : 3). + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.093577 ms (missed cycles : 3).[0m ×2 + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900572 ms (missed cycles : 2). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900572 ms (missed cycles : 2).[0m ×2 + 53.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040145 ms (missed cycles : 3). + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040145 ms (missed cycles : 3).[0m ×2 + 54.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.434619 ms (missed cycles : 6). + 54.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.434619 ms (missed cycles : 6).[0m ×2 + 55.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 55.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034014 ms (missed cycles : 5). + 55.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.034014 ms (missed cycles : 5).[0m ×2 + 56.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7). + 56.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7).[0m ×2 + 57.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4). + 57.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4).[0m ×2 + 58.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5). + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5).[0m ×2 + 59.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 59.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2). + 59.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2).[0m ×2 + 60.08sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782430014.18783426 seconds ×3 + 60.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 60.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.555ms + 60.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 60.64sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782430014.74638391 seconds. ×3 + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3).[0m ×2 + 60.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 60.94sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 60.96sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 61.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 61.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3). + 61.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3).[0m ×2 + 62.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 62.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 62.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 62.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 63.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 54.9s | 177 warnings · 189 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.31sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.41sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.41sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms + 7.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.752ms + 7.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.231ms + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526878 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526878 ms (missed cycles : 3).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.629ms + 8.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.019ms + 8.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092844 ms (missed cycles : 5). + 8.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.092844 ms (missed cycles : 5).[0m ×2 + 8.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.619ms + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.131ms + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794463 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.794463 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.845ms + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.646ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.277ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.733ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492636 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492636 ms (missed cycles : 2).[0m ×2 + 10.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.046ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.724ms + 11.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753618 ms (missed cycles : 4). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753618 ms (missed cycles : 4).[0m ×2 + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.368ms + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.854ms + 12.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.836ms + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.425ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853464 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853464 ms (missed cycles : 2).[0m ×2 + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.445ms + 13.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.225ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.999748 ms (missed cycles : 2).[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.457ms + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.153ms + 14.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.987ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288410 ms (missed cycles : 4). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.288410 ms (missed cycles : 4).[0m ×2 + 15.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.704ms + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.031ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981261 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981261 ms (missed cycles : 2).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.553ms + 16.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.659ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288033 ms (missed cycles : 4). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.288033 ms (missed cycles : 4).[0m ×2 + 17.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.168ms + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.944ms + 17.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889178 ms (missed cycles : 2). + 17.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889178 ms (missed cycles : 2).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.182ms + 18.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.584ms + 18.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.696ms + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950590 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950590 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.455ms + 19.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.886ms + 20.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.314ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349239 ms (missed cycles : 2). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.349239 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.137ms + 20.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.615ms + 20.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.557ms + 21.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072980 ms (missed cycles : 4). + 21.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072980 ms (missed cycles : 4).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.810ms + 21.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.016ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504497 ms (missed cycles : 3). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504497 ms (missed cycles : 3).[0m ×2 + 22.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.323ms + 22.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.829ms + 22.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.772ms + 23.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.312ms + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376886 ms (missed cycles : 3). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376886 ms (missed cycles : 3).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.480ms + 24.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.034ms + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995535 ms (missed cycles : 2). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995535 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.336ms + 25.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.034ms + 25.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.504ms + 25.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.794ms + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510942 ms (missed cycles : 4). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510942 ms (missed cycles : 4).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.673ms + 26.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.559ms + 26.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693340 ms (missed cycles : 2). + 26.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693340 ms (missed cycles : 2).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.963ms + 27.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.863ms + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.848124 ms (missed cycles : 8). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.848124 ms (missed cycles : 8).[0m ×2 + 27.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.090ms + 27.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.345ms + 28.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 28.21sINFOros2_control_nodeMuJoCo sim: 0.19% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.757ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786770 ms (missed cycles : 3). + 28.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.786770 ms (missed cycles : 3).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.335ms + 29.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.993ms + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923725 ms (missed cycles : 2). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923725 ms (missed cycles : 2).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.555ms + 30.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.432ms + 30.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.202ms + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134460 ms (missed cycles : 5). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134460 ms (missed cycles : 5).[0m ×2 + 31.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.093ms + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747966 ms (missed cycles : 2). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747966 ms (missed cycles : 2).[0m ×2 + 32.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.931ms + 32.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.689ms + 32.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.033ms + 32.68sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 32.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040909 ms (missed cycles : 5). + 32.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040909 ms (missed cycles : 5).[0m ×2 + 33.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613415 ms (missed cycles : 7). + 33.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.613415 ms (missed cycles : 7).[0m ×2 + 34.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.098ms + 34.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.936ms + 34.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.930ms + 34.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.682ms + 35.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540023 ms (missed cycles : 2). + 35.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540023 ms (missed cycles : 2).[0m ×2 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675549 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.675549 ms (missed cycles : 2).[0m ×2 + 36.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.487ms + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.082ms ×2 + 36.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.532ms + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941589 ms (missed cycles : 5). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.941589 ms (missed cycles : 5).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.472072 ms (missed cycles : 7). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.472072 ms (missed cycles : 7).[0m ×2 + 39.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839997 ms (missed cycles : 2). + 39.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839997 ms (missed cycles : 2).[0m ×2 + 39.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.991ms + 40.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719111 ms (missed cycles : 2). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.719111 ms (missed cycles : 2).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.729ms + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745378 ms (missed cycles : 3). + 41.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745378 ms (missed cycles : 3).[0m ×2 + 41.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.871ms + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446587 ms (missed cycles : 2). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446587 ms (missed cycles : 2).[0m ×2 + 43.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.254ms + 43.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912490 ms (missed cycles : 2). + 43.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912490 ms (missed cycles : 2).[0m ×2 + 43.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.730ms + 44.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.963ms + 44.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.483148 ms (missed cycles : 6). + 44.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.483148 ms (missed cycles : 6).[0m ×2 + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881368 ms (missed cycles : 5). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.881368 ms (missed cycles : 5).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.418ms + 46.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.960ms + 46.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.690ms + 46.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.131ms + 46.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.690008 ms (missed cycles : 7). + 46.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.690008 ms (missed cycles : 7).[0m ×2 + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720174 ms (missed cycles : 2). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720174 ms (missed cycles : 2).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.783ms + 48.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.650ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714491 ms (missed cycles : 2). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714491 ms (missed cycles : 2).[0m ×2 + 49.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615872 ms (missed cycles : 2). + 49.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615872 ms (missed cycles : 2).[0m ×2 + 50.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.685ms + 50.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.066ms + 50.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.895ms + 50.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.135ms + 51.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939617 ms (missed cycles : 2). + 51.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.939617 ms (missed cycles : 2).[0m ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090150 ms (missed cycles : 2). + 52.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090150 ms (missed cycles : 2).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.686ms + 52.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.633ms + 53.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680525 ms (missed cycles : 3). + 53.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.680525 ms (missed cycles : 3).[0m ×2 + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833017 ms (missed cycles : 2). + 54.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833017 ms (missed cycles : 2).[0m ×2 + 54.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.898ms + 55.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899224 ms (missed cycles : 3). + 55.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899224 ms (missed cycles : 3).[0m ×2 + 56.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268047 ms (missed cycles : 2). + 56.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268047 ms (missed cycles : 2).[0m ×2 + 57.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.749ms + 57.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511236 ms (missed cycles : 4). + 57.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511236 ms (missed cycles : 4).[0m ×2 + 58.28sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782430242.57822537 seconds ×3 + 58.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363133 ms (missed cycles : 3). + 58.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363133 ms (missed cycles : 3).[0m ×2 + 58.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.021ms + 58.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.973ms + 58.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782430243.13472438 seconds. ×3 + 59.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.914ms + 59.14sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 59.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 59.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097875 ms (missed cycles : 2). + 59.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097875 ms (missed cycles : 2).[0m ×2 + 60.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008357 ms (missed cycles : 2). + 60.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008357 ms (missed cycles : 2).[0m ×2 + 60.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.355ms + 61.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.633ms + 61.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.598ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 53.5s | 174 warnings · 200 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.831ms + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.762ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.62sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782430050.16750813 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.174ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782430050.71807146 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.340ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.930ms + 5.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.48sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.48sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.581ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521230 ms (missed cycles : 3). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.521230 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.188ms + 8.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679489 ms (missed cycles : 5). + 8.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679489 ms (missed cycles : 5).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.574ms + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.421ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787816 ms (missed cycles : 3). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787816 ms (missed cycles : 3).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.632ms + 10.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540470 ms (missed cycles : 3). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.540470 ms (missed cycles : 3).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.875ms ×3 + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.851ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.839ms + 11.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890342 ms (missed cycles : 5). + 11.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.890342 ms (missed cycles : 5).[0m ×2 + 11.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.712ms ×2 + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.852ms + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082295 ms (missed cycles : 5). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.082295 ms (missed cycles : 5).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.276ms + 12.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.110ms + 13.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.766ms + 13.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.769ms + 13.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723957 ms (missed cycles : 2). + 13.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.723957 ms (missed cycles : 2).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.082ms + 14.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.576ms + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883686 ms (missed cycles : 5). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883686 ms (missed cycles : 5).[0m ×2 + 14.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.502ms + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.250ms + 15.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.932ms + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784733 ms (missed cycles : 5). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.784733 ms (missed cycles : 5).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.210ms + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.414ms + 16.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.249ms + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530363 ms (missed cycles : 4). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.530363 ms (missed cycles : 4).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.791ms + 17.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.959ms + 17.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730558 ms (missed cycles : 3). + 17.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730558 ms (missed cycles : 3).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.645ms + 17.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.934ms + 18.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.327ms + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764038 ms (missed cycles : 2). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.764038 ms (missed cycles : 2).[0m ×2 + 18.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.466ms + 19.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.589ms + 19.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889731 ms (missed cycles : 4). + 19.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889731 ms (missed cycles : 4).[0m ×2 + 19.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.389ms + 20.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.446ms + 20.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721032 ms (missed cycles : 3). + 20.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721032 ms (missed cycles : 3).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.526ms + 21.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.725ms + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780668 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780668 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.763ms + 22.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.191ms + 22.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.015ms + 22.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.636ms + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425119 ms (missed cycles : 3). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425119 ms (missed cycles : 3).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.243ms + 24.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385211 ms (missed cycles : 4). + 24.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.385211 ms (missed cycles : 4).[0m ×2 + 24.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.200ms + 24.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.415ms + 24.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.222ms + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918681 ms (missed cycles : 2). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918681 ms (missed cycles : 2).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.230ms + 25.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.053ms + 26.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 26.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910504 ms (missed cycles : 2). + 26.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910504 ms (missed cycles : 2).[0m ×2 + 26.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.628ms + 26.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.244ms + 27.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.675ms + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046431 ms (missed cycles : 2). + 27.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.046431 ms (missed cycles : 2).[0m ×2 + 27.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.919ms + 28.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.032ms ×2 + 28.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789750 ms (missed cycles : 6). + 28.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.789750 ms (missed cycles : 6).[0m ×2 + 28.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.226ms + 28.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.047ms + 28.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.906ms + 29.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874808 ms (missed cycles : 2). + 29.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874808 ms (missed cycles : 2).[0m ×2 + 29.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 29.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.826ms + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257086 ms (missed cycles : 4). + 30.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257086 ms (missed cycles : 4).[0m ×2 + 30.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.757ms + 30.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.000ms + 30.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.719ms + 30.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.111ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721509 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.721509 ms (missed cycles : 2).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.579ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163224 ms (missed cycles : 4). + 32.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163224 ms (missed cycles : 4).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.617ms + 33.14sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 33.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.216ms + 33.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384911 ms (missed cycles : 5). + 33.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.384911 ms (missed cycles : 5).[0m ×2 + 33.80sWARNobjective_server_nodePlanCartesianPath Warning: The velocity_scale_factor, acceleration_scale_factor, and trajectory_sampling_rate ports are deprecated. Wire the trajectory_timing port to select the timing algorithm and its parameters. ×3 + 33.80sINFOobjective_server_nodePlanning for 57 path waypoints. ×3 + 34.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155895 ms (missed cycles : 2). + 34.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155895 ms (missed cycles : 2).[0m ×2 + 34.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.203ms + 35.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.027ms + 35.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.384204 ms (missed cycles : 8). + 35.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.384204 ms (missed cycles : 8).[0m ×2 + 35.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.323ms + 36.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.087ms + 36.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.812ms + 36.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157481 ms (missed cycles : 5). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.157481 ms (missed cycles : 5).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.385ms + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.633ms + 37.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.555ms + 37.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.604687 ms (missed cycles : 7). + 37.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.604687 ms (missed cycles : 7).[0m ×2 + 38.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.322ms + 38.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.281ms + 38.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733739 ms (missed cycles : 3). + 38.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733739 ms (missed cycles : 3).[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.166ms + 39.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.520ms + 39.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427945 ms (missed cycles : 3). + 39.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.427945 ms (missed cycles : 3).[0m ×2 + 40.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.123ms + 41.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844256 ms (missed cycles : 2). + 41.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844256 ms (missed cycles : 2).[0m ×2 + 41.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.397ms + 42.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851970 ms (missed cycles : 3). + 42.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851970 ms (missed cycles : 3).[0m ×2 + 42.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.812ms + 42.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.694ms + 43.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753926 ms (missed cycles : 4). + 43.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753926 ms (missed cycles : 4).[0m ×2 + 43.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.322ms + 43.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.861ms + 43.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.070ms + 44.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057447 ms (missed cycles : 2). + 44.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.057447 ms (missed cycles : 2).[0m ×2 + 44.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.456ms + 45.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.128ms + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281349 ms (missed cycles : 3). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.281349 ms (missed cycles : 3).[0m ×2 + 46.00sINFOros2_control_nodeMuJoCo sim: 0.14% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 46.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.384ms + 46.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793562 ms (missed cycles : 3). + 46.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793562 ms (missed cycles : 3).[0m ×2 + 47.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937594 ms (missed cycles : 3). + 47.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937594 ms (missed cycles : 3).[0m ×2 + 47.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.361ms + 47.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.155ms + 47.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725448 ms (missed cycles : 5). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.725448 ms (missed cycles : 5).[0m ×2 + 48.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.442ms + 49.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759404 ms (missed cycles : 5). + 49.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759404 ms (missed cycles : 5).[0m ×2 + 49.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.797ms + 50.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771424 ms (missed cycles : 2). + 50.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771424 ms (missed cycles : 2).[0m ×2 + 51.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.272ms + 51.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536902 ms (missed cycles : 3). + 51.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536902 ms (missed cycles : 3).[0m ×2 + 52.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.987ms + 52.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.500ms + 52.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.268ms + 52.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307988 ms (missed cycles : 2). + 52.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307988 ms (missed cycles : 2).[0m ×2 + 53.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.102ms + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706013 ms (missed cycles : 2). + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706013 ms (missed cycles : 2).[0m ×2 + 54.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.493ms + 54.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.870ms + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537015 ms (missed cycles : 2). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537015 ms (missed cycles : 2).[0m ×2 + 55.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961446 ms (missed cycles : 2). + 55.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961446 ms (missed cycles : 2).[0m ×2 + 55.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.544ms + 56.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.398ms + 56.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758611 ms (missed cycles : 2). + 56.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758611 ms (missed cycles : 2).[0m ×2 + 57.15sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782430103.65824413 seconds ×3 + 57.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.854ms + 57.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 57.72sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782430104.22066474 seconds. ×3 + 57.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540147 ms (missed cycles : 2). + 57.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540147 ms (missed cycles : 2).[0m ×2 + 57.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.971ms + 58.01sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 58.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 58.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.887ms + 58.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 58.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806370 ms (missed cycles : 3). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806370 ms (missed cycles : 3).[0m ×2 + 58.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.187ms + 58.96sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 59.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.410ms + 59.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302607 ms (missed cycles : 5). + 59.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302607 ms (missed cycles : 5).[0m ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.2s | 147 warnings · 206 info |
+ 0.00sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.00sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.34sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.34sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.34sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.34sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.34sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.34sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.38sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.40sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.40sINFOros2Loaded platform_velocity_controller ×2 + 0.40sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.40sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.41sINFOplatform_velocity_controllerconfigure successful + 0.41sINFOros2_control_nodeconfigure successful[0m ×2 + 0.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.41sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.42sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.42sINFOros2Configured and activated platform_velocity_controller ×2 + 0.73sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.73sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.73sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.73sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.73sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.73sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.77sINFOros2-11process has finished cleanly [pid 9284] ×2 + 0.79sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.79sINFOros2Loaded joint_velocity_controller ×2 + 0.80sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.80sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.82sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 0.82sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 1.07sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.08sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.41sINFOros2-17process has finished cleanly [pid 9290] ×2 + 1.72sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.72sINFOmove_groupClearing octomap...[0m ×2 + 1.72sINFOmove_groupOctomap cleared.[0m ×2 + 1.73sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 2.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 2.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.57sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.57sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.05sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.22sWARNobjective_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 + 5.22sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.45sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.45sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.45sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857969 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857969 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472663 ms (missed cycles : 3). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472663 ms (missed cycles : 3).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059787 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.059787 ms (missed cycles : 2).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147374 ms (missed cycles : 4). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.147374 ms (missed cycles : 4).[0m ×2 + 10.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076786 ms (missed cycles : 3). + 10.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076786 ms (missed cycles : 3).[0m ×2 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309808 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.309808 ms (missed cycles : 2).[0m ×2 + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466369 ms (missed cycles : 4). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466369 ms (missed cycles : 4).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168183 ms (missed cycles : 4). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168183 ms (missed cycles : 4).[0m ×2 + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045018 ms (missed cycles : 4). + 15.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045018 ms (missed cycles : 4).[0m ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698284 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698284 ms (missed cycles : 2).[0m ×2 + 17.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836249 ms (missed cycles : 4). + 17.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836249 ms (missed cycles : 4).[0m ×2 + 18.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197925 ms (missed cycles : 5). + 18.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.197925 ms (missed cycles : 5).[0m ×2 + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181359 ms (missed cycles : 4). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181359 ms (missed cycles : 4).[0m ×2 + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668676 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668676 ms (missed cycles : 3).[0m ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966647 ms (missed cycles : 3). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966647 ms (missed cycles : 3).[0m ×2 + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734101 ms (missed cycles : 3). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.734101 ms (missed cycles : 3).[0m ×2 + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562313 ms (missed cycles : 3). + 23.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562313 ms (missed cycles : 3).[0m ×2 + 24.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744771 ms (missed cycles : 5). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.744771 ms (missed cycles : 5).[0m ×2 + 25.06sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.110ms + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550510 ms (missed cycles : 3). + 25.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.550510 ms (missed cycles : 3).[0m ×2 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294449 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.294449 ms (missed cycles : 3).[0m ×2 + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335806 ms (missed cycles : 2). + 27.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335806 ms (missed cycles : 2).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637495 ms (missed cycles : 3). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637495 ms (missed cycles : 3).[0m ×2 + 30.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406249 ms (missed cycles : 2). + 30.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406249 ms (missed cycles : 2).[0m ×2 + 31.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833800 ms (missed cycles : 2). + 31.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.833800 ms (missed cycles : 2).[0m ×2 + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298583 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.298583 ms (missed cycles : 2).[0m ×2 + 33.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066108 ms (missed cycles : 5). + 33.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.066108 ms (missed cycles : 5).[0m ×2 + 34.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073966 ms (missed cycles : 4). + 34.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073966 ms (missed cycles : 4).[0m ×2 + 35.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466420 ms (missed cycles : 3). + 35.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.466420 ms (missed cycles : 3).[0m ×2 + 36.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042789 ms (missed cycles : 2). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.042789 ms (missed cycles : 2).[0m ×2 + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328147 ms (missed cycles : 2). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.328147 ms (missed cycles : 2).[0m ×2 + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635059 ms (missed cycles : 4). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635059 ms (missed cycles : 4).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985711 ms (missed cycles : 2). + 39.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985711 ms (missed cycles : 2).[0m ×2 + 40.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844002 ms (missed cycles : 3). + 40.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844002 ms (missed cycles : 3).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820344 ms (missed cycles : 3). + 41.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820344 ms (missed cycles : 3).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468320 ms (missed cycles : 3). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.468320 ms (missed cycles : 3).[0m ×2 + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3). + 43.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3).[0m ×2 + 44.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3).[0m ×2 + 45.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4). + 45.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4).[0m ×2 + 46.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2). + 46.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2).[0m ×2 + 46.82sINFOjoint_trajectory_controllerGoal reached, success! + 46.82sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782429954.29500175 seconds ×3 + 47.04sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 1.618ms + 47.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782429954.83544588 seconds. ×3 + 47.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3).[0m ×2 + 48.05sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.605ms + 48.25sINFOobjective_server_nodeFound path in 0 iterations (3.075e-05 s). ×2 + 48.25sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4). + 48.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4).[0m ×2 + 49.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2). + 49.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 30.4s | 105 warnings · 287 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 0.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 1.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms + 1.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.832ms + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.216ms + 1.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.348ms + 1.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.249ms + 1.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.386ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871915 ms (missed cycles : 3). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871915 ms (missed cycles : 3).[0m ×2 + 2.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.301ms + 2.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.094ms + 2.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.438ms + 2.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.230ms ×2 + 2.30sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.30sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.33sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782430018.72738791 seconds ×3 + 2.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.956ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.165ms + 2.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066723 ms (missed cycles : 4). + 2.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066723 ms (missed cycles : 4).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.402ms + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.990ms + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.079ms + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.056ms + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.131ms ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.385ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124443 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124443 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.543ms + 3.88sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782430020.27736855 seconds. ×3 + 3.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.017ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.338ms + 4.19sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.819ms + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.171ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.612ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.962ms + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.629ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794446 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794446 ms (missed cycles : 2).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.384ms + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.887ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.470ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.142ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.684ms + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 5.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 5.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.37sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.139ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.519ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.133ms + 5.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968018 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968018 ms (missed cycles : 2).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.019ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.051ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.638ms + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.329ms + 6.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.683ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.783ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.637ms ×2 + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.708ms + 6.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.460ms + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008701 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.008701 ms (missed cycles : 2).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.785ms + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.716ms + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.480ms ×2 + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.377ms + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.907ms + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.445ms + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.919ms + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.436ms ×2 + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.542ms + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737136 ms (missed cycles : 5). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737136 ms (missed cycles : 5).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.924ms + 7.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.371ms + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.433ms + 8.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.382ms ×2 + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.323ms + 8.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.908ms ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.115ms + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.315ms + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.907ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766628 ms (missed cycles : 5). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.766628 ms (missed cycles : 5).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.817ms + 9.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.713ms + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.140ms + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.070ms + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.808ms + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.394ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.010ms + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.700ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.843ms + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.224ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803624 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803624 ms (missed cycles : 3).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.384ms + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.395ms + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.662ms + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.694ms + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.080ms + 10.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.415ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.333ms + 10.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.762ms ×2 + 10.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.393ms + 10.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.108ms ×2 + 11.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642650 ms (missed cycles : 4). + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.234ms + 11.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642650 ms (missed cycles : 4).[0m ×2 + 11.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.458ms + 11.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.090ms + 11.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.915ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.175ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.685ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.305ms + 11.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.194ms + 11.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.250ms + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.299ms + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.143ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519723 ms (missed cycles : 4). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519723 ms (missed cycles : 4).[0m ×2 + 12.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.663ms + 12.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.944ms + 12.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.348ms + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.539ms + 12.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.464ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.889ms + 12.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.309ms + 12.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.030ms + 13.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.622ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.575ms + 13.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038648 ms (missed cycles : 2). + 13.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038648 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.065ms + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.623ms + 13.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.310ms + 13.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.734ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.035ms + 13.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.988ms + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.081ms + 13.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.164ms ×2 + 14.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.613ms + 14.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.284ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258191 ms (missed cycles : 4). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.258191 ms (missed cycles : 4).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.903ms + 14.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.512ms + 14.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 14.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.860ms + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.117ms + 14.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.467ms + 14.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.151ms + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.877ms + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.111ms + 15.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.249ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182354 ms (missed cycles : 5). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.182354 ms (missed cycles : 5).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.023ms + 15.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.134ms + 15.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.196ms + 15.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.802ms + 15.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.540ms + 15.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.835ms + 15.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.620ms + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.021ms + 16.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.996ms + 16.10sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.439ms + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866487 ms (missed cycles : 3). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.866487 ms (missed cycles : 3).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.473ms + 16.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.457ms + 16.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.971ms + 16.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.930ms ×2 + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.620ms + 16.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.511ms + 17.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.515ms + 17.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.998ms + 17.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114556 ms (missed cycles : 5). + 17.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.114556 ms (missed cycles : 5).[0m ×2 + 17.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.508ms + 17.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.414ms + 17.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.456ms + 17.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.713ms + 17.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.509ms + 17.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.569ms + 18.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.992ms + 18.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.818ms + 18.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406376 ms (missed cycles : 2). + 18.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.406376 ms (missed cycles : 2).[0m ×2 + 18.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.522ms + 18.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.966ms + 18.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.968ms + 18.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.802ms + 18.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.786ms + 18.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.556ms + 19.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.726ms + 19.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.215ms + 19.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.758ms + 19.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.381ms + 19.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055794 ms (missed cycles : 2). + 19.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.055794 ms (missed cycles : 2).[0m ×2 + 19.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.397ms + 19.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.983ms + 19.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.146ms + 19.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 19.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.815ms + 19.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.782ms + 20.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.817ms + 20.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.016ms + 20.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.968ms ×2 + 20.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906214 ms (missed cycles : 5). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.906214 ms (missed cycles : 5).[0m ×2 + 20.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.553ms + 20.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.189ms + 20.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.305ms + 20.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.530ms + 21.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.431ms + 21.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.667ms + 21.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.533ms + 21.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 21.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.047ms + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076999 ms (missed cycles : 4). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076999 ms (missed cycles : 4).[0m ×2 + 21.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.957ms + 22.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.918ms + 22.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040426 ms (missed cycles : 5). + 22.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.040426 ms (missed cycles : 5).[0m ×2 + 22.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.628ms + 23.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.717ms + 23.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404957 ms (missed cycles : 4). + 23.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404957 ms (missed cycles : 4).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.171ms + 24.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.434ms + 24.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387951 ms (missed cycles : 4). + 24.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.387951 ms (missed cycles : 4).[0m ×2 + 24.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.898ms + 24.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.695ms + 25.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.923ms + 25.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828473 ms (missed cycles : 2). + 25.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.828473 ms (missed cycles : 2).[0m ×2 + 25.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.452ms + 26.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.607ms + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492690 ms (missed cycles : 3). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.492690 ms (missed cycles : 3).[0m ×2 + 26.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.219ms + 27.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.585ms + 27.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 27.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.124ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949554 ms (missed cycles : 2). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.949554 ms (missed cycles : 2).[0m ×2 + 28.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.234ms + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457353 ms (missed cycles : 3). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457353 ms (missed cycles : 3).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.603ms + 29.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.330ms + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735363 ms (missed cycles : 2). + 29.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735363 ms (missed cycles : 2).[0m ×2 + 30.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.831ms + 30.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms + 31.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 31.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 32.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 33.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2). + 33.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2).[0m ×2 + 33.77sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782430050.16750813 seconds ×3 + 34.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 34.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4). + 34.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4).[0m ×2 + 34.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.174ms + 34.32sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782430050.71807146 seconds. ×3 + 34.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 34.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 35.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.340ms + 35.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5). + 35.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5).[0m ×2 + 35.55sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 36.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.581ms + 36.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4). + 36.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4).[0m ×2 + 36.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 12.5s | 54 warnings · 139 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.898ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899224 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899224 ms (missed cycles : 3).[0m ×2 + 1.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268047 ms (missed cycles : 2). + 1.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268047 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.749ms + 2.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511236 ms (missed cycles : 4). + 2.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.511236 ms (missed cycles : 4).[0m ×2 + 3.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.29sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1782430242.57822537 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363133 ms (missed cycles : 3). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.363133 ms (missed cycles : 3).[0m ×2 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.021ms + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.973ms + 3.84sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1782430243.13472438 seconds. ×3 + 3.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.914ms + 4.15sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 4.16sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.17sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.17sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.17sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.17sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097875 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.097875 ms (missed cycles : 2).[0m ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008357 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.008357 ms (missed cycles : 2).[0m ×2 + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.355ms + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.633ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.598ms + 6.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147196 ms (missed cycles : 2). + 6.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147196 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.861ms + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.978202 ms (missed cycles : 6). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.978202 ms (missed cycles : 6).[0m ×2 + 8.39sINFOobjective_server_nodeFound path in 0 iterations (7.3e-07 s). ×2 + 8.40sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.43sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 8.45sINFOobjective_server_nodePath shortcutter: [X____________________X] ×2 + 8.48sINFOobjective_server_nodeFound path in 0 iterations (6.5e-07 s). ×2 + 8.53sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 8.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.69sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 8.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528971 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.528971 ms (missed cycles : 2).[0m ×2 + 8.88sINFOobjective_server_nodeFound path in 98 iterations (0.0365136 s). ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________X____X] ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (2.89e-07 s). ×2 + 9.45sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.75sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.78sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619560 ms (missed cycles : 2). + 9.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619560 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.530ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.995ms + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299555 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299555 ms (missed cycles : 3).[0m ×2 + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.031ms + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340629 ms (missed cycles : 4). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.340629 ms (missed cycles : 4).[0m ×2 + 12.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.095ms + 12.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.635ms + 13.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4). + 13.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.434ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.406ms + 14.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3). + 14.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3).[0m ×2 + 14.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.881ms + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3).[0m ×2 + 15.78sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782430255.07615900 seconds ×3 + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4).[0m ×2 + 16.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.032ms + 16.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782430255.65139461 seconds. ×3 + 16.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.36sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.36sINFOmove_groupClearing octomap...[0m ×2 + 16.36sINFOmove_groupOctomap cleared.[0m ×2 + 16.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.780ms + 16.76sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782430256.05155110 seconds ×3 + 16.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.242ms + 17.30sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782430256.59405518 seconds. ×3 + 17.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.930ms + 17.68sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782430256.97420096 seconds ×3 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 17.92sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 18.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.342ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2). + 18.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.230ms + 18.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.9s | 75 errors · 33 warnings · 391 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4).[0m ×2 + 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.434ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.406ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3).[0m ×2 + 1.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.881ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3).[0m ×2 + 2.74sINFOjoint_trajectory_controllerGoal reached, success! + 2.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.77sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782430255.07615900 seconds ×3 + 2.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4).[0m ×2 + 3.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.032ms + 3.35sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782430255.65139461 seconds. ×3 + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.35sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.35sINFOmove_groupClearing octomap...[0m ×2 + 3.35sINFOmove_groupOctomap cleared.[0m ×2 + 3.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.780ms + 3.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782430256.05155110 seconds ×3 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4).[0m ×2 + 4.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.242ms + 4.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782430256.59405518 seconds. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.930ms + 4.67sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782430256.97420096 seconds ×3 + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 4.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.342ms + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2). + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.230ms + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2).[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770081 ms (missed cycles : 3). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770081 ms (missed cycles : 3).[0m ×2 + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.435ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.366ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143048 ms (missed cycles : 4). + 7.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.143048 ms (missed cycles : 4).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310241 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310241 ms (missed cycles : 2).[0m ×2 + 8.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.055ms + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.656ms + 9.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903497 ms (missed cycles : 3). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.903497 ms (missed cycles : 3).[0m ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763986 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.763986 ms (missed cycles : 2).[0m ×2 + 10.54sERRORweb_video_server-30process[web_video_server-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORtf2_web_republisher_node-29process[tf2_web_republisher_node-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORweb_bridge-28process[web_bridge-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORui_teleop_bridge-27process[ui_teleop_bridge-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.55sERRORexecute_objective_bridge-26process[execute_objective_bridge-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORcomponent_container_mt-25process[component_container_mt-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sERRORobjective_server_node_main-24process[objective_server_node_main-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.56sINFOweb_video_server-30sending signal 'SIGTERM' to process[web_video_server-30] ×2 + 10.58sERRORmove_end_effector_resampler_node-23process[move_end_effector_resampler_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORmove_joint_resampler_node-22process[move_joint_resampler_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.58sERRORwaypoint_manager_node-21process[waypoint_manager_node-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORparameter_manager_node-20process[parameter_manager_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.59sERRORmove_group-19process[move_group-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sERRORros2_control_node-7process[ros2_control_node-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.60sINFOtf2_web_republisher_node-29sending signal 'SIGTERM' to process[tf2_web_republisher_node-29] ×2 + 10.61sERRORscan_to_scan_filter_chain-6process[scan_to_scan_filter_chain-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORscan_to_scan_filter_chain-5process[scan_to_scan_filter_chain-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORodom_qos_relay.py-4process[odom_qos_relay.py-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.62sERRORstatic_transform_publisher-2process[static_transform_publisher-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.63sINFOweb_bridge-28sending signal 'SIGTERM' to process[web_bridge-28] ×2 + 10.64sINFOui_teleop_bridge-27sending signal 'SIGTERM' to process[ui_teleop_bridge-27] ×2 + 10.66sINFOexecute_objective_bridge-26sending signal 'SIGTERM' to process[execute_objective_bridge-26] ×2 + 10.67sINFOcomponent_container_mt-25sending signal 'SIGTERM' to process[component_container_mt-25] ×2 + 10.69sINFOobjective_server_node_main-24sending signal 'SIGTERM' to process[objective_server_node_main-24] ×2 + 10.70sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOmove_end_effector_resampler_node-23sending signal 'SIGTERM' to process[move_end_effector_resampler_node-23] ×2 + 10.72sINFOmove_joint_resampler_node-22sending signal 'SIGTERM' to process[move_joint_resampler_node-22] ×2 + 10.74sINFOwaypoint_manager_node-21sending signal 'SIGTERM' to process[waypoint_manager_node-21] ×2 + 10.75sINFOparameter_manager_node-20sending signal 'SIGTERM' to process[parameter_manager_node-20] ×2 + 10.77sINFOmove_group-19sending signal 'SIGTERM' to process[move_group-19] ×2 + 10.79sINFOros2_control_node-7sending signal 'SIGTERM' to process[ros2_control_node-7] ×2 + 10.79sINFOcontroller_managerShutdown request received.... + 10.79sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.79sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.79sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.79sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.79sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.79sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.79sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.79sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.79sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.79sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.79sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.80sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.80sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.80sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.80sINFOcontroller_managerShutting down the controller manager. + 10.81sINFOscan_to_scan_filter_chain-6sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-6] ×2 + 10.82sINFOscan_to_scan_filter_chain-5sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-5] ×2 + 10.83sINFOweb_video_server-30process has finished cleanly [pid 9366] ×2 + 10.84sINFOodom_qos_relay.py-4sending signal 'SIGTERM' to process[odom_qos_relay.py-4] ×2 + 10.84sERRORmove_group-19process has died [pid 9294, 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_zhej5jo6 --params-file /tmp/launch_params_93751zyw --params-file /tmp/launch_params_uasthsdw --params-file /tmp/launch_params_4wnda2ku --params-file /tmp/launch_params_28kkmg3i --params-file /tmp/launch_params_mghd9_t1 --params-file /tmp/launch_params__x6wkpt9 --params-file /tmp/launch_params_yb8_q_7r --params-file /tmp/launch_params_v0imuii3']. ×2 + 10.85sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.87sINFOstatic_transform_publisher-2sending signal 'SIGTERM' to process[static_transform_publisher-2] ×2 + 10.88sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.88sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.88sINFOcontroller_serverCleaning up + 10.88sINFOlocal_costmap.local_costmapCleaning up + 10.88sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.88sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.88sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.88sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==10.0.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.88sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.88sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/python3.12/site-packages/moveit_studio_bridge/ui_teleop_bridge.py", line 336, in main ×2 + 10.88sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.88sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.88sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.88sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.88sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.88sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.88sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.88sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.88sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.89sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.89sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.89sERRORmove_groupStack trace (most recent call last) in thread 9855: ×2 + 10.89sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.89sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac66a31a63, in __clone ×2 + 10.89sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac669a4aa3, in ×2 + 10.89sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac66c36db3, in ×2 + 10.89sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fac6728b1c7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.89sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac66fa94d0, in rclcpp::Rate::sleep() ×2 + 10.89sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac66efca88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.89sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fac66ec1a71, in ×2 + 10.89sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac66c05390, in __cxa_throw ×2 + 10.89sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac66befa54, in std::terminate() ×2 + 10.89sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac66c050d9, in ×2 + 10.89sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fac66befff4, in ×2 + 10.89sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac669308fe, in abort ×2 + 10.89sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac6694d27d, in raise ×2 + 10.89sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fac669a6b2c, in pthread_kill ×2 + 10.89sERRORmove_groupAborted (Signal sent by tkill() 9294 0) ×2 + 10.89sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.89sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.89sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.89sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.89sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.89sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.89sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.89sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.89sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.89sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.89sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.90sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.90sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.90sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.90sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM) ×4 + 10.90sINFOobjective_server_node[2026-06-25 23:31:03.134] [moveit_pro_license] [info] ×2 + 10.90sINFOobjective_server_node************************************************* ×4 + 10.90sINFOobjective_server_node* MoveIt Pro License ×2 + 10.90sINFOobjective_server_node* Application has successfully terminated ×2 + 10.90sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.90sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 10.90sINFOodom_qos_relay.pymain() ×2 + 10.90sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 10.90sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.90sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.90sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.90sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.90sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.90sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.90sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.90sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.90sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.90sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.90sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.90sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.90sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.90sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.90sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM) ×4 + 10.90sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.90sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.90sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5629bea146a4, in _start ×2 + 10.90sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdaae1c928a, in __libc_start_main ×2 + 10.90sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdaae1c91d0, in ×2 + 10.90sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdaae1e6bbd, in exit ×2 + 10.90sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fdaae1e6a75, in ×2 + 10.90sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fdaae6b84a2, in spdlog::details::registry::~registry() ×2 + 10.90sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fdaae6c369d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.90sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fdaae6bd965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.90sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5629bea1b315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.90sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5629bea1a5a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.90sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5629bea16b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.90sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x5629bea14d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.90sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdaaed5f454, in rclcpp::Node::~Node() ×2 + 10.90sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdaaed1a515, in ×2 + 10.90sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdaaed5dd20, in ×2 + 10.90sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdaaed5dc63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.90sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdaaed1a5d9, in ×2 + 10.90sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fdaaed1f161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.90sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fda5a23c120]) ×2 + 10.92sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. + 10.92sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.92sINFOmap_serverDeactivating + 10.92sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.93sINFOmap_serverCleaning up + 10.93sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.93sINFOsmoother_serverCleaning up + 10.94sERRORobjective_server_node_main-24process has died [pid 9343, 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_okx1bdow --params-file /tmp/launch_params_w135w844 --params-file /tmp/launch_params_5yoql3s7 --params-file /tmp/launch_params_35nvfysk --params-file /tmp/launch_params_x0346utw --params-file /tmp/launch_params_iht9thv8 --params-file /tmp/launch_params_gi_nc0io --params-file /tmp/launch_params_3_scy7p1 --params-file /tmp/launch_params_ltptj743']. ×2 + 10.94sINFOlaunchprocess[objective_server_node_main-24] was required: shutting down launched system ×2 + 10.94sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 10.95sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. + 10.95sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.95sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. + 10.95sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.95sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.96sERRORamclThe bond connection to the lifecycle manager has been broken + 10.97sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 10.97sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. + 10.97sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 10.97sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. + 10.97sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 10.97sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. + 10.97sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 10.97sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. + 10.97sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.01sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.01sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.01sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 11.46sERRORcomponent_container_isolated-1process has died [pid 9208, 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_y6uwxz08 --params-file /tmp/launch_params_11hci0mm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.66sINFOtf2_web_republisher_node-29process has finished cleanly [pid 9365] ×2 + 11.66sINFOlaunchprocess[tf2_web_republisher_node-29] was required: shutting down launched system ×2 + 11.75sINFOmove_end_effector_resampler_node-23process has finished cleanly [pid 9342] ×2 + 11.76sERRORui_teleop_bridge-27process has died [pid 9363, 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_ogtdssom']. ×2 + 11.76sINFOexecute_objective_bridge-26process has finished cleanly [pid 9362] ×2 + 11.77sINFOmove_joint_resampler_node-22process has finished cleanly [pid 9298] ×2 + 11.81sINFOparameter_manager_node-20process has finished cleanly [pid 9296] ×2 + 11.83sINFOwaypoint_manager_node-21process has finished cleanly [pid 9297] ×2 + 11.85sINFOscan_to_scan_filter_chain-6process has finished cleanly [pid 9213] ×2 + 11.86sINFOscan_to_scan_filter_chain-5process has finished cleanly [pid 9212] ×2 + 11.89sINFOstatic_transform_publisher-3process has finished cleanly [pid 9210] ×2 + 11.91sINFOstatic_transform_publisher-2process has finished cleanly [pid 9209] ×2 + 11.93sERRORodom_qos_relay.py-4process has died [pid 9211, 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 + 11.93sINFOcomponent_container_mt-25process has finished cleanly [pid 9344] ×2 + 13.19sINFOweb_bridge-28process has finished cleanly [pid 9364] ×2 + 13.19sINFOlaunchprocess[web_bridge-28] was required: shutting down launched system ×2 + 13.54sINFOros2_control_node-7process has finished cleanly [pid 9214] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.7s | 3 errors · 51 warnings · 100 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.102ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706013 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.706013 ms (missed cycles : 2).[0m ×2 + 0.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.493ms + 0.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.870ms + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537015 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.537015 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961446 ms (missed cycles : 2). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961446 ms (missed cycles : 2).[0m ×2 + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.544ms + 2.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.032ms + 3.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.398ms + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758611 ms (missed cycles : 2). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758611 ms (missed cycles : 2).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1782430103.65824413 seconds ×3 + 3.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.854ms + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1782430104.22066474 seconds. ×3 + 4.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540147 ms (missed cycles : 2). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.540147 ms (missed cycles : 2).[0m ×2 + 4.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.971ms + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.650ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.887ms + 5.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.943ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806370 ms (missed cycles : 3). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.806370 ms (missed cycles : 3).[0m ×2 + 5.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.187ms + 5.49sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 5.52sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.52sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.52sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.52sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.410ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302607 ms (missed cycles : 5). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.302607 ms (missed cycles : 5).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.875ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635568 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635568 ms (missed cycles : 3).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.508ms + 8.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758227 ms (missed cycles : 5). + 8.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.758227 ms (missed cycles : 5).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.294ms + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.893ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630152 ms (missed cycles : 3). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630152 ms (missed cycles : 3).[0m ×2 + 9.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.645ms + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.524ms + 10.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103258 ms (missed cycles : 5). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.103258 ms (missed cycles : 5).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.652ms + 11.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.609ms + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128979 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.128979 ms (missed cycles : 3).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.424ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.449ms + 11.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.149ms + 12.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.130ms + 12.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031553 ms (missed cycles : 2). + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031553 ms (missed cycles : 2).[0m ×2 + 12.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.451ms + 13.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699405 ms (missed cycles : 2). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699405 ms (missed cycles : 2).[0m ×2 + 13.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.238ms + 14.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.080ms + 14.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms + 14.42sINFOjoint_trajectory_controllerGot request to cancel goal + 14.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.42sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.43sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled: Objective execution was halted at time: 1782430114.40829611 seconds ×3 + 14.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.655ms + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747655 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747655 ms (missed cycles : 3).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.692ms + 14.97sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1782430114.95258307 seconds. ×3 + 15.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.445ms + 15.27sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 15.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.429ms + 15.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.282ms + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113392 ms (missed cycles : 5). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.113392 ms (missed cycles : 5).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.260ms + 16.24sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.351ms + 16.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.950ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703790 ms (missed cycles : 6). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.703790 ms (missed cycles : 6).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.340ms + 17.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.546ms + 17.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.967ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.5s | 36 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.37sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782430014.18783426 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.555ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782430014.74638391 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×4 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.28sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.28sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms + 6.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 14.832ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.216ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.348ms + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.249ms + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.386ms + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871915 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871915 ms (missed cycles : 3).[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.301ms + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.094ms + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.438ms + 7.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.230ms + 7.93sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1782430018.72738791 seconds ×3 + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.956ms + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.165ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066723 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066723 ms (missed cycles : 4).[0m ×2 + 8.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.402ms + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.017ms + 8.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.990ms + 8.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.079ms + 9.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.056ms + 9.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.131ms + 9.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.385ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124443 ms (missed cycles : 2). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124443 ms (missed cycles : 2).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.543ms + 9.48sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1782430020.27736855 seconds. ×3 + 9.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.017ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.338ms + 9.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.819ms + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.171ms + 10.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.612ms + 10.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.962ms + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.629ms + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794446 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794446 ms (missed cycles : 2).[0m ×2 + 10.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.384ms + 10.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.887ms + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.470ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.142ms + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.684ms + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.986ms + 10.93sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.139ms + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.519ms + 11.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.133ms + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968018 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.968018 ms (missed cycles : 2).[0m ×2 + 11.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.019ms + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.051ms + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.000ms + 11.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.638ms + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.329ms + 11.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.610ms + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.683ms + 12.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.783ms | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.5s | 30 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782429954.29500175 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.67sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 1.618ms + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782429954.83544588 seconds. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3).[0m ×2 + 4.68sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.605ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.075e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 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 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2).[0m ×2 + 7.00sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782429957.81553411 seconds ×3 + 7.19sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.492ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857343 ms (missed cycles : 3). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857343 ms (missed cycles : 3).[0m ×2 + 7.55sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782429958.35770464 seconds. ×3 + 7.79sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.292ms + 7.85sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968733 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968733 ms (missed cycles : 3).[0m ×2 + 9.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773642 ms (missed cycles : 2). + 9.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773642 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.0s | 21 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.095ms + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.635ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.434ms + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.406ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.881ms + 2.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782430255.07615900 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.032ms + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782430255.65139461 seconds. ×3 + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.780ms + 4.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782430256.05155110 seconds ×3 + 4.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4).[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.242ms + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782430256.59405518 seconds. ×3 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.930ms + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782430256.97420096 seconds ×3 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.342ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2). + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.230ms + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2).[0m ×2 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770081 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770081 ms (missed cycles : 3).[0m ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.435ms + 7.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.366ms | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782430014.18783426 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.555ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782430014.74638391 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782430014.18783426 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.555ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782430014.74638391 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.11sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.11sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.46sINFOros2-9process has finished cleanly [pid 9282] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.48sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×4 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.84sINFOros2-8process has finished cleanly [pid 9215] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2Loaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.55sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.25sINFOros2-16process has finished cleanly [pid 9289] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.28sINFOplatform_velocity_controllerconfigure successful + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.29sINFOros2Configured and activated platform_velocity_controller ×2 + 2.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.64sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.66sINFOros2Loaded joint_velocity_controller ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 48 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.095ms + 0.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.635ms + 0.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4). + 0.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562135 ms (missed cycles : 4).[0m ×2 + 0.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.434ms + 1.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.406ms + 1.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3). + 1.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948876 ms (missed cycles : 3).[0m ×2 + 1.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.205ms + 2.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.881ms + 2.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 2.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.981364 ms (missed cycles : 3).[0m ×2 + 3.36sINFOjoint_trajectory_controllerGoal reached, success! + 3.36sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1782430255.07615900 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.41sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.149ms + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4). + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167120 ms (missed cycles : 4).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.032ms + 3.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1782430255.65139461 seconds. ×3 + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.97sINFOmove_groupClearing octomap...[0m ×2 + 3.97sINFOmove_groupOctomap cleared.[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.780ms + 4.37sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1782430256.05155110 seconds ×3 + 4.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.133ms + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4). + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.516465 ms (missed cycles : 4).[0m ×2 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.242ms + 4.91sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1782430256.59405518 seconds. ×3 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.930ms + 5.29sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1782430256.97420096 seconds ×3 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.214ms + 5.53sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.342ms + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2). + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.230ms + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083506 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782429954.29500175 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 1.618ms + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782429954.83544588 seconds. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3).[0m ×2 + 4.68sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.605ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.075e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOjoint_trajectory_controllerReceived new action goal + 4.90sINFOjoint_trajectory_controllerAccepted new action goal + 4.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 31 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563582 ms (missed cycles : 3).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392777 ms (missed cycles : 3).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.580586 ms (missed cycles : 4).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2).[0m ×2 + 3.44sINFOjoint_trajectory_controllerGoal reached, success! + 3.44sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.48sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782429954.29500175 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.67sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 1.618ms + 4.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782429954.83544588 seconds. ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3).[0m ×2 + 4.68sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.605ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (3.075e-05 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.90sINFOjoint_trajectory_controllerReceived new action goal + 4.90sINFOjoint_trajectory_controllerAccepted new action goal + 4.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.90sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4).[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.11sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.11sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.46sINFOros2-9process has finished cleanly [pid 9282] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.48sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×4 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.84sINFOros2-8process has finished cleanly [pid 9215] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2Loaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.55sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.25sINFOros2-16process has finished cleanly [pid 9289] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.28sINFOplatform_velocity_controllerconfigure successful + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.29sINFOros2Configured and activated platform_velocity_controller ×2 + 2.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.64sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.66sINFOros2Loaded joint_velocity_controller ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 21 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672106 ms (missed cycles : 2).[0m ×2 + 0.15sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.15sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1782429954.29500175 seconds ×3 + 0.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.37sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 1.618ms + 0.73sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1782429954.83544588 seconds. ×3 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718193 ms (missed cycles : 3).[0m ×2 + 1.38sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 1.605ms + 1.58sINFOobjective_server_nodeFound path in 0 iterations (3.075e-05 s). ×2 + 1.58sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.138932 ms (missed cycles : 4).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611744 ms (missed cycles : 2).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1782429957.81553411 seconds ×3 + 3.89sINFOamclParticle filter update iteration stats: 1428 particles 723 points - 1.492ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857343 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857343 ms (missed cycles : 3).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1782429958.35770464 seconds. ×3 + 4.49sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.292ms + 4.55sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968733 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.968733 ms (missed cycles : 3).[0m ×2 + 5.80sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773642 ms (missed cycles : 2). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773642 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782430014.18783426 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.555ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782430014.74638391 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782430014.18783426 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.555ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782430014.74638391 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 21 warnings · 39 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.697359 ms (missed cycles : 7).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.045012 ms (missed cycles : 4).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.683896 ms (missed cycles : 5).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193456 ms (missed cycles : 2).[0m ×2 + 3.37sINFOjoint_trajectory_controllerGoal reached, success! + 3.37sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1782430014.18783426 seconds ×3 + 3.41sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.555ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 3.95sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1782430014.74638391 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.635026 ms (missed cycles : 3).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.744ms + 4.25sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.28sINFOjoint_trajectory_controllerReceived new action goal + 4.28sINFOjoint_trajectory_controllerAccepted new action goal + 4.28sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.28sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.005ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.016ms + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584382 ms (missed cycles : 3).[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.659ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.444ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202783 ms (missed cycles : 5).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.195ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 18 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.831ms + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.762ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782430050.16750813 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.174ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782430050.71807146 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.340ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.930ms + 5.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.581ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 18 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.831ms + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.762ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782430050.16750813 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.174ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782430050.71807146 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.340ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.930ms + 5.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.581ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 18 warnings · 45 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.831ms + 0.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.762ms + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.399ms + 0.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2). + 0.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155180 ms (missed cycles : 2).[0m ×2 + 1.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.321ms + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 1.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.043ms + 1.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.624ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992479 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.563ms + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.301660 ms (missed cycles : 2).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.66sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1782430050.16750813 seconds ×3 + 3.68sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.186ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081639 ms (missed cycles : 4).[0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.174ms + 4.21sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1782430050.71807146 seconds. ×3 + 4.25sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.212ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.458ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.340ms + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.062272 ms (missed cycles : 5).[0m ×2 + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.930ms + 5.44sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.48sINFOjoint_trajectory_controllerReceived new action goal + 5.48sINFOjoint_trajectory_controllerAccepted new action goal + 5.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.48sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.581ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892515 ms (missed cycles : 4).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.257ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.11sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.11sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.46sINFOros2-9process has finished cleanly [pid 9282] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.48sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×4 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.84sINFOros2-8process has finished cleanly [pid 9215] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2Loaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.55sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.25sINFOros2-16process has finished cleanly [pid 9289] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.28sINFOplatform_velocity_controllerconfigure successful + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.29sINFOros2Configured and activated platform_velocity_controller ×2 + 2.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.64sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.66sINFOros2Loaded joint_velocity_controller ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | Point-to-Point Trajectory | point-to-point_trajectory.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.274422 ms (missed cycles : 5).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.416ms + 0.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.127ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.264ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053740 ms (missed cycles : 2).[0m ×2 + 1.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.432ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.780277 ms (missed cycles : 6).[0m ×2 + 2.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.568ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.500ms + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517855 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! + 3.31sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.36sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1782430187.66297793 seconds ×3 + 3.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.39sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.604ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.850ms + 3.92sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1782430188.21806836 seconds. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.474ms + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509055 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.578ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.678ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.411ms + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688595 ms (missed cycles : 2).[0m ×2 + 5.37sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.41sINFOjoint_trajectory_controllerReceived new action goal + 5.41sINFOjoint_trajectory_controllerAccepted new action goal + 5.41sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.41sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.747ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.586ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.097ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098405 ms (missed cycles : 2).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.099ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 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 | 20.3s | 15 errors · 294 warnings · 1093 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/2026-06-25-23-24-48-923145-8bf5de5a2670-9159 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.55sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 8.55sINFOstatic_tf_mj_world_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'world' + 8.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 8.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.61sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 8.62sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.63sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/nav2_container' ×2 + 8.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.64sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.65sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.65sINFOcontroller_managerupdate rate is 600 Hz + 8.65sINFOcontroller_managerOverruns handling is : enabled + 8.65sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.65sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 8.67sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.71sINFOcontroller_serverCreating controller server + 8.74sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.75sINFOlocal_costmap.local_costmapCreating Costmap + 8.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 8.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 8.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 8.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 8.82sINFOros2_control_node-7process started with pid [9214] ×2 + 8.83sINFOmove_group-19process started with pid [9294] ×2 + 8.83sINFOparameter_manager_node-20process started with pid [9296] ×2 + 8.83sINFOwaypoint_manager_node-21process started with pid [9297] ×2 + 8.83sINFOmove_joint_resampler_node-22process started with pid [9298] ×2 + 8.83sINFOmove_end_effector_resampler_node-23process started with pid [9342] ×2 + 8.83sINFOobjective_server_node_main-24process started with pid [9343] ×2 + 8.83sINFOcomponent_container_mt-25process started with pid [9344] ×2 + 8.83sINFOexecute_objective_bridge-26process started with pid [9362] ×2 + 8.83sINFOui_teleop_bridge-27process started with pid [9363] ×2 + 8.83sINFOweb_bridge-28process started with pid [9364] ×2 + 8.83sINFOtf2_web_republisher_node-29process started with pid [9365] ×2 + 8.84sINFOweb_video_server-30process started with pid [9366] ×2 + 8.84sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.84sINFOmap_serverCreating + 8.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/nav2_container' ×2 + 8.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.85sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 8.85sINFOcomponent_container_isolated-1process started with pid [9208] ×2 + 8.86sINFOstatic_transform_publisher-2process started with pid [9209] ×2 + 8.86sINFOstatic_transform_publisher-3process started with pid [9210] ×2 + 8.86sINFOodom_qos_relay.py-4process started with pid [9211] ×2 + 8.86sINFOscan_to_scan_filter_chain-5process started with pid [9212] ×2 + 8.86sINFOscan_to_scan_filter_chain-6process started with pid [9213] ×2 + 8.86sINFOros2-8process started with pid [9215] ×2 + 8.86sINFOros2-9process started with pid [9282] ×2 + 8.86sINFOros2-10process started with pid [9283] ×2 + 8.86sINFOros2-11process started with pid [9284] ×2 + 8.86sINFOros2-12process started with pid [9285] ×2 + 8.86sINFOros2-13process started with pid [9286] ×2 + 8.86sINFOros2-14process started with pid [9287] ×2 + 8.86sINFOros2-15process started with pid [9288] ×2 + 8.86sINFOros2-16process started with pid [9289] ×2 + 8.86sINFOros2-17process started with pid [9290] ×2 + 8.86sINFOros2-18process started with pid [9291] ×2 + 8.87sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 8.91sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments ×4 + 8.91sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 8.91sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 8.91sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 8.91sINFOstatic_transform_publisherfrom 'mj_world' to 'map' ×2 + 8.91sINFOstatic_transform_publisherfrom 'mj_world' to 'world' ×2 + 8.91sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 8.91sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 8.91sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 8.91sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 8.91sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 8.91sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.137095 ms (missed cycles : 7). + 8.92sINFOsmoother_serverCreating smoother server + 8.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 8.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 8.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 8.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.137095 ms (missed cycles : 7).[0m ×2 + 8.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 8.97sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 8.99sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 8.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 8.99sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.00sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.00sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/nav2_container' ×2 + 9.01sINFOplanner_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. + 9.01sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.01sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.02sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.04sINFOplanner_serverCreating + 9.08sINFOglobal_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. + 9.09sINFOglobal_costmap.global_costmapCreating Costmap + 9.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.11sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.11sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> ×2 + 9.13sINFOlifecycle_manager_localizationCreating + 9.14sINFOrobot_state_publisherRobot initialized + 9.14sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.14sINFOcontroller_managerReceived robot description from topic. + 9.14sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.14sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.14sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.16sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/nav2_container' ×2 + 9.16sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.17sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.17sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.17sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.17sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.17sINFOmap_serverConfiguring + 9.17sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.20sINFObehavior_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. + 9.20sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.20sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.23sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 9.23sINFOamclConfiguring + 9.23sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.23sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.23sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.24sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.24sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.24sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.24sINFOmap_serverActivating + 9.25sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.29sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.29sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.30sINFObt_navigator
bt_navigator lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.30sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.32sINFObt_navigatorCreating + 9.33sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.33sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.33sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.37sINFOwaypoint_follower
waypoint_follower lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.37sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.37sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 9.37sINFOamclActivating + 9.37sINFOamclSubscribed to initial_pose_topic: /initialpose + 9.37sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 9.38sINFOwaypoint_followerCreating + 9.39sINFOamclSubscribed to map_topic: /map + 9.39sINFOamclSubscribed to scan_topic: /scan_merged + 9.39sINFOamclCreated reinitialize_global_localization service + 9.39sINFOamclCreated request_nomotion_update service + 9.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.40sINFOamclA new map was received + 9.40sINFOamclInitializing particle filter instance + 9.42sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.45sINFOlifecycle_manager_navigationCreating + 9.45sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.48sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.48sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.48sINFOcontroller_serverConfiguring controller interface + 9.48sINFOcontroller_servergetting progress checker plugins.. + 9.48sINFOcontroller_servergetting goal checker plugins.. + 9.48sINFOcontroller_serverController frequency set to 20.0000Hz + 9.48sINFOlocal_costmap.local_costmapConfiguring + 9.49sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 9.49sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 9.49sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 9.50sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.50sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 9.50sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 9.54sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.54sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.54sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.526123 seconds + 9.54sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.55sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.55sINFOmove_groupLoaded robot model in 0.526123 seconds[0m ×2 + 9.55sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.55sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.55sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.56sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.56sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 9.56sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. ×4 + 9.58sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.58sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.58sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.59sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.60sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.63sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.64sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.64sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.65sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.65sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.66sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.66sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.67sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.67sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.68sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.68sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.69sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.69sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.69sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.70sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.70sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.70sINFOcontroller_serverOptimizer reset + 9.72sINFOcontroller_serverController Server has FollowPath controllers available. + 9.75sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.75sINFOsmoother_serverConfiguring smoother server + 9.77sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 9.78sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 9.80sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 9.80sINFOplanner_serverConfiguring + 9.80sINFOglobal_costmap.global_costmapConfiguring + 9.81sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 9.82sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 9.83sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 9.83sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 9.84sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 9.87sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 9.87sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 9.87sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 9.91sFATALplanner_serverFailed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_navfn_planner/NavfnPlanner with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner::NavfnPlanner nav2_smac_planner::SmacPlanner2D nav2_smac_planner::SmacPlannerHybrid nav2_smac_planner::SmacPlannerLattice nav2_theta_star_planner::ThetaStarPlanner + 9.91sINFOplanner_serverCleaning up + 9.91sINFOglobal_costmap.global_costmapCleaning up + 9.92sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 9.98sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 9.98sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 9.98sWARNmove_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. + 9.98sWARNmove_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. + 9.98sWARNmove_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. + 9.98sWARNmove_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. + 9.99sWARNmove_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. + 9.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.99sWARNmove_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. + 9.99sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 9.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.99sERRORlifecycle_manager_navigationFailed to bring up all requested nodes. Aborting bringup. + 9.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 9.99sWARNmove_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 + 9.99sWARNmove_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 + 9.99sWARNmove_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. + 9.99sWARNmove_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. + 9.99sWARNmove_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. + 9.99sWARNmove_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. + 9.99sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.00sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214501 ms (missed cycles : 6). + 10.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.214501 ms (missed cycles : 6).[0m ×2 + 10.08sINFOwaypoint_manager_nodeLoaded robot model in 0.3653 seconds[0m ×2 + 10.08sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.08sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.12sINFOamclParticle filter initialization completed + 10.12sINFOamclInitializing particles from estimated pose and covariance + 10.12sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 10.17sINFOlifecycle_manager_localizationServer amcl connected with bond. + 10.17sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 10.17sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 10.22sINFOamclThe bond connection to the lifecycle manager is now fully formed + 10.35sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.35sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.35sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.36sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.37sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 10.38sINFOros2waiting for service /controller_manager/list_controllers to become available... ×8 + 10.49sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 10.49sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 10.49sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 10.49sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 10.49sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 10.49sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 10.49sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 10.49sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 10.49sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 10.49sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 10.49sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 10.50sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 10.50sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 10.50sINFOmove_groupStarting planning scene monitor[0m ×2 + 10.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 10.50sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 10.50sINFOmove_groupListening to '/planning_scene'[0m ×2 + 10.50sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 10.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 10.50sINFOmove_groupListening to 'collision_object'[0m ×2 + 10.50sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 10.50sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_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. + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_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. + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_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. + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_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. + 10.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.62sWARNwaypoint_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 + 10.62sWARNwaypoint_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. + 10.62sWARNwaypoint_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. + 10.62sWARNwaypoint_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. + 10.62sWARNwaypoint_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 + 10.62sWARNwaypoint_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 + 10.62sWARNwaypoint_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 + 10.62sWARNwaypoint_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. + 10.62sWARNwaypoint_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. + 10.62sWARNwaypoint_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. + 10.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.62sWARNwaypoint_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 + 10.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.63sWARNwaypoint_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 + 10.63sWARNwaypoint_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 + 10.63sWARNwaypoint_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. + 10.63sWARNwaypoint_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 + 10.63sWARNwaypoint_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. + 10.63sWARNwaypoint_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 + 10.63sWARNwaypoint_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. + 10.63sWARNwaypoint_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 + 10.99sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 10.99sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.00sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.05sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.05sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.05sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.05sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.05sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.05sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.05sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.05sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.05sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.05sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.05sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.05sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.05sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.05sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.05sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.05sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.05sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.05sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.05sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.05sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.05sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.05sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.05sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.07sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.07sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.07sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 11.13sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 11.13sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 11.13sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 11.13sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.25sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 11.25sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 11.27sINFOspawner_arm_only_joint_velocity_controllerLoaded arm_only_joint_velocity_controller + 11.27sINFOros2Loaded arm_only_joint_velocity_controller ×2 + 11.27sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 11.27sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 11.28sINFOamclParticle filter update iteration stats: 2208 particles 723 points - 2.869ms + 11.29sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 11.29sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×2 + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.48sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.48sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×2 + 11.48sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.48sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.49sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.51sINFOros2_control_node[2026-06-25 23:25:02.918] [info] Controller state will be published at 20 Hz. ×2 + 11.51sINFOros2_control_node[2026-06-25 23:25:02.919] [info] JointVelocityController 'on_configure' succeeded. ×2 + 11.56sINFOobjective_server_node[2026-06-25 23:25:02.971] [moveit_pro_license] [info] ×2 + 11.56sINFOobjective_server_node************************************************* ×4 + 11.56sINFOobjective_server_node* MoveIt Pro License ×2 + 11.56sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.62sINFOobjective_server_nodeLoaded robot model in 0.0180357 seconds[0m ×2 + 11.63sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.63sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.64sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 11.64sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.64sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 11.65sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 11.81sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 11.81sINFOcontroller_managerLoading controller 'vacuum_gripper' + 11.81sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 11.81sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 11.81sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 11.81sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 11.84sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 11.85sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 11.85sINFOros2-18process has finished cleanly [pid 9291] ×2 + 11.89sINFOspawner_vacuum_gripperLoaded vacuum_gripper + 11.89sINFOros2Loaded vacuum_gripper ×2 + 11.89sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 11.89sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 11.89sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 11.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 11.90sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 11.90sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 11.90sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831631 ms (missed cycles : 4). + 11.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.90sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 11.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831631 ms (missed cycles : 4).[0m ×2 + 11.91sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sINFOspawner_vacuum_gripperConfigured and activated vacuum_gripper + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sINFOros2Configured and activated vacuum_gripper ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.91sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 11.97sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 11.97sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 11.99sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 11.99sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 12.06sINFOcomponent_container_mtLoaded robot model in 0.40845 seconds[0m ×2 + 12.06sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.06sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.23sINFOros2-12process has finished cleanly [pid 9285] ×2 + 12.25sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 12.25sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 12.25sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 12.25sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 12.25sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 12.26sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 12.26sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 12.28sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 12.28sINFOros2Loaded joint_state_broadcaster ×2 + 12.29sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 12.29sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 12.29sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 12.29sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 12.29sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 12.29sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 12.29sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 12.29sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 12.31sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 12.31sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 12.32sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 12.32sINFOros2Configured and activated joint_state_broadcaster ×2 + 12.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.32sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.32sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.33sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.33sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 12.34sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.35sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.46sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 12.66sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 12.67sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 12.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 12.67sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 12.77sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 12.77sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 12.77sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 12.77sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 12.78sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 12.78sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 12.80sINFOros2-10process has finished cleanly [pid 9283] ×2 + 12.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 12.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 12.84sINFOspawner_platform_velocity_controller_nav2Loaded platform_velocity_controller_nav2 + 12.84sINFOros2Loaded platform_velocity_controller_nav2 ×2 + 12.84sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 12.84sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 12.84sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 12.84sINFOplatform_velocity_controller_nav2configure successful + 12.84sINFOros2_control_nodeconfigure successful[0m ×6 + 12.92sWARNmove_group.moveit.plugins.ros_control_interfaceFailed to read controllers from /controller_manager/list_controllers within 1 seconds + 12.92sWARNmove_groupFailed to read controllers from /controller_manager/list_controllers within 1 seconds[0m ×2 + 12.97sINFOmove_group.moveit.ros.trajectory_execution_managerTrajectory execution is managing controllers + 12.97sINFOmove_groupMoveGroup debug mode is ON + 12.97sINFOmove_groupTrajectory execution is managing controllers[0m ×2 + 12.97sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 12.98sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 12.99sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 12.99sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 13.01sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 13.01sINFOcomponent_container_mtStreaming point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 13.01sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 13.01sINFOcomponent_container_mtStreaming point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 13.01sINFOstreaming_point_cloud_publisher_nodeStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 13.01sINFOstreaming_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) + 13.01sINFOcomponent_container_mtStreaming point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 13.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_container' ×2 + 13.01sINFOcomponent_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 + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295633 ms (missed cycles : 2). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295633 ms (missed cycles : 2).[0m ×2 + 13.05sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 13.05sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 13.15sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 13.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 13.22sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 13.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 13.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 13.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 13.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 13.27sINFOros2-13process has finished cleanly [pid 9286] ×2 + 13.27sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 13.32sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - ExecuteTaskSolution
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - SetActiveControllerService
* - URDFPlanningSceneCapability
********************************************************
+ 13.32sINFOmove_group ×8 + 13.32sINFOmove_group******************************************************** ×4 + 13.32sINFOmove_group* MoveGroup using: ×2 + 13.32sINFOmove_group* - apply_planning_scene_service ×2 + 13.32sINFOmove_group* - clear_octomap_service ×2 + 13.32sINFOmove_group* - ExecuteTaskSolution ×2 + 13.32sINFOmove_group* - get_group_urdf ×2 + 13.32sINFOmove_group* - load_geometry_from_file ×2 + 13.32sINFOmove_group* - get_planning_scene_service ×2 + 13.32sINFOmove_group* - kinematics_service ×2 + 13.32sINFOmove_group* - save_geometry_to_file ×2 + 13.32sINFOmove_group* - GetPlanningGroups ×2 + 13.32sINFOmove_group* - SetActiveControllerService ×2 + 13.32sINFOmove_group* - URDFPlanningSceneCapability ×2 + 13.32sINFOmove_group[0m ×2 + 13.32sINFOmove_group[92mYou can start planning now![0m ×2 + 13.32sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 13.33sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 13.38sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 13.38sINFOros2Loaded velocity_force_controller ×2 + 13.38sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 13.38sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 13.63sINFOros2_control_node[2026-06-25 23:25:05.040] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.63sINFOros2_control_node[2026-06-25 23:25:05.043] [info] Controller state will be published at 10 Hz. ×2 + 13.63sINFOros2_control_node[2026-06-25 23:25:05.044] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.69sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.97sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 13.98sINFOros2-15process has finished cleanly [pid 9288] ×2 + 14.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 14.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 14.23sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 14.23sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 14.23sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 14.23sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 14.23sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 14.23sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 14.25sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 14.25sINFOros2Loaded imu_sensor_broadcaster ×2 + 14.26sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 14.26sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 14.27sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 14.27sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 14.27sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 14.27sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 14.58sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 14.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 14.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 14.58sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 14.58sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 14.58sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 14.62sINFOros2-9process has finished cleanly [pid 9282] ×2 + 14.63sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 14.64sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 14.64sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 14.64sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 14.64sINFOforce_torque_sensor_broadcasterconfigure successful + 14.66sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 14.66sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 14.66sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 14.66sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 14.99sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 15.00sINFOros2-8process has finished cleanly [pid 9215] ×2 + 15.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 15.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 15.24sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 15.24sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 15.25sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 15.25sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 15.25sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 15.25sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 15.31sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 15.31sINFOros2Loaded joint_trajectory_controller ×2 + 15.32sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 15.32sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 15.32sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 15.32sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 15.32sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 15.32sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 15.32sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 15.32sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 15.32sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 15.32sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 15.32sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 15.32sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 15.32sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 15.70sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 15.70sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 15.70sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 15.70sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 15.70sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 15.70sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 15.71sINFOros2-14process has finished cleanly [pid 9287] ×2 + 15.76sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 15.76sINFOros2Loaded arm_only_velocity_force_controller ×2 + 15.76sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 15.76sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 16.03sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 16.03sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 16.03sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 16.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 16.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 16.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 16.37sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 16.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.37sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 16.37sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 16.41sINFOros2-16process has finished cleanly [pid 9289] ×2 + 16.43sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 16.43sINFOros2Loaded platform_velocity_controller ×2 + 16.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 16.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 16.43sINFOplatform_velocity_controllerconfigure successful + 16.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 16.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 16.44sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 16.44sINFOros2Configured and activated platform_velocity_controller ×2 + 16.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.75sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 16.75sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 16.75sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.75sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 16.75sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 16.80sINFOros2-11process has finished cleanly [pid 9284] ×2 + 16.82sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 16.82sINFOros2Loaded joint_velocity_controller ×2 + 16.83sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 16.83sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 17.10sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 17.10sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 17.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 17.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 17.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 17.43sINFOros2-17process has finished cleanly [pid 9290] ×2 + 17.75sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 17.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.75sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.75sINFOmove_groupClearing octomap...[0m ×2 + 17.75sINFOmove_groupOctomap cleared.[0m ×2 + 17.76sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 18.30sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 18.31sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 18.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 18.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 18.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 19.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 19.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 19.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 19.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 19.60sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 19.60sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.60sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 19.60sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.60sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.60sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 19.60sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 19.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 19.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 19.64sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 19.64sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.64sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 19.65sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 19.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 20.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 20.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 20.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 20.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 20.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 20.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 20.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 20.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 20.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 21.08sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 260 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.02sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.35sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.35sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.35sINFOros2-8process has finished cleanly [pid 9215] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 0.60sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.60sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.61sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.67sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.67sINFOros2Loaded joint_trajectory_controller ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.67sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.67sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.68sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.68sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.68sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.06sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.06sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.07sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.11sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.12sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.13sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.39sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.72sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.72sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.77sINFOros2-16process has finished cleanly [pid 9289] ×2 + 1.79sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.79sINFOros2Loaded platform_velocity_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.79sINFOplatform_velocity_controllerconfigure successful + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.80sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.80sINFOros2Configured and activated platform_velocity_controller ×2 + 2.11sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.11sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.11sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.11sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.15sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.17sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.17sINFOros2Loaded joint_velocity_controller ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.46sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.46sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 2.79sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 4.95sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.95sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNobjective_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 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 27 warnings · 301 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.11sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.11sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.46sINFOros2-9process has finished cleanly [pid 9282] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.48sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×4 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.84sINFOros2-8process has finished cleanly [pid 9215] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2Loaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.55sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.25sINFOros2-16process has finished cleanly [pid 9289] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.28sINFOplatform_velocity_controllerconfigure successful + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.29sINFOros2Configured and activated platform_velocity_controller ×2 + 2.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.64sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.66sINFOros2Loaded joint_velocity_controller ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 7.09sWARNobjective_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 + 7.09sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.31sINFOjoint_trajectory_controllerReceived new action goal + 7.32sINFOjoint_trajectory_controllerAccepted new action goal + 7.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 4 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-06-25-23-24-48-923145-8bf5de5a2670-9159 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.11sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.11sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.46sINFOros2-9process has finished cleanly [pid 9282] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.48sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×4 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.84sINFOros2-8process has finished cleanly [pid 9215] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2Loaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.55sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.25sINFOros2-16process has finished cleanly [pid 9289] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.28sINFOplatform_velocity_controllerconfigure successful + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.29sINFOros2Configured and activated platform_velocity_controller ×2 + 2.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.64sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.66sINFOros2Loaded joint_velocity_controller ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.11sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.11sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.46sINFOros2-9process has finished cleanly [pid 9282] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.48sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×4 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.84sINFOros2-8process has finished cleanly [pid 9215] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2Loaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.55sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.25sINFOros2-16process has finished cleanly [pid 9289] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.28sINFOplatform_velocity_controllerconfigure successful + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.29sINFOros2Configured and activated platform_velocity_controller ×2 + 2.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.64sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.66sINFOros2Loaded joint_velocity_controller ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583425 ms (missed cycles : 3).[0m ×2 + 0.07sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 0.07sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 0.07sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 0.07sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 0.07sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.07sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.09sINFOspawner_imu_sensor_broadcasterLoaded imu_sensor_broadcaster + 0.09sINFOros2Loaded imu_sensor_broadcaster ×2 + 0.10sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 0.10sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 0.11sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 0.11sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.11sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 0.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.11sINFOspawner_imu_sensor_broadcasterConfigured and activated imu_sensor_broadcaster + 0.11sINFOros2Configured and activated imu_sensor_broadcaster ×2 + 0.42sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.42sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.42sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.42sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.42sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.42sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.46sINFOros2-9process has finished cleanly [pid 9282] ×2 + 0.48sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.48sINFOros2Loaded force_torque_sensor_broadcaster ×2 + 0.48sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.48sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.49sINFOforce_torque_sensor_broadcasterconfigure successful + 0.49sINFOros2_control_nodeconfigure successful[0m ×4 + 0.50sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.50sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.51sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.51sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.83sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.83sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.84sINFOros2-8process has finished cleanly [pid 9215] ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 1.09sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.09sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.09sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.09sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.09sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.09sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.16sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 1.16sINFOros2Loaded joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 1.16sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 1.16sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 1.16sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 1.16sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 1.16sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 1.16sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 1.16sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 1.16sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 1.16sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 1.16sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 1.17sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 1.17sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.54sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.54sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.54sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.54sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.55sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.60sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.60sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.60sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.61sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.61sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.87sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 2.21sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 2.21sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 2.21sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.21sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 2.21sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 2.21sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.25sINFOros2-16process has finished cleanly [pid 9289] ×2 + 2.27sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 2.27sINFOros2Loaded platform_velocity_controller ×2 + 2.27sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 2.27sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 2.28sINFOplatform_velocity_controllerconfigure successful + 2.28sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 2.28sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 2.29sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 2.29sINFOros2Configured and activated platform_velocity_controller ×2 + 2.59sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.59sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.60sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.60sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.60sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.60sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.64sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.66sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.66sINFOros2Loaded joint_velocity_controller ×2 + 2.67sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.67sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.94sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.95sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 3.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 3.28sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.59sINFOmove_groupClearing octomap...[0m ×2 + 3.59sINFOmove_groupOctomap cleared.[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 4.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 4.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.85sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 5.43sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 5.44sINFOobjective_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 + 5.44sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.44sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.44sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.44sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.46sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.46sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.48sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.48sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.49sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.49sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 6.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 6.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.05sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.05sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.05sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.05sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.05sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 260 info |
+ 0.00sINFOforce_torque_sensor_broadcasterconfigure successful + 0.00sINFOros2_control_nodeconfigure successful[0m ×4 + 0.02sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.02sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.02sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.02sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.02sINFOros2Configured and activated force_torque_sensor_broadcaster ×2 + 0.35sINFOspawner_joint_trajectory_controllerwaiting for service /controller_manager/list_controllers to become available... + 0.35sINFOros2waiting for service /controller_manager/list_controllers to become available... ×2 + 0.35sINFOros2-8process has finished cleanly [pid 9215] ×2 + 0.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.546384 ms (missed cycles : 2).[0m ×2 + 0.60sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.60sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.60sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.60sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.61sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.61sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.67sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.67sINFOros2Loaded joint_trajectory_controller ×2 + 0.67sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.67sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 0.67sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.67sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.67sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 0.68sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 0.68sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.68sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 0.68sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.68sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 0.68sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 1.05sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.06sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 1.06sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.06sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.07sINFOros2-14process has finished cleanly [pid 9287] ×2 + 1.11sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 1.12sINFOros2Loaded arm_only_velocity_force_controller ×2 + 1.12sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 1.12sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 1.13sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 1.13sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 1.38sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 1.39sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 1.39sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 1.72sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 1.72sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 1.72sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 1.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 1.73sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.77sINFOros2-16process has finished cleanly [pid 9289] ×2 + 1.79sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 1.79sINFOros2Loaded platform_velocity_controller ×2 + 1.79sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 1.79sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 1.79sINFOplatform_velocity_controllerconfigure successful + 1.80sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 1.80sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 1.80sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 1.80sINFOros2Configured and activated platform_velocity_controller ×2 + 2.11sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 2.11sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 2.11sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 2.11sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 2.11sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 2.11sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 2.15sINFOros2-11process has finished cleanly [pid 9284] ×2 + 2.17sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 2.17sINFOros2Loaded joint_velocity_controller ×2 + 2.19sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 2.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 2.46sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 2.46sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 2.57sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.57sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 2.79sINFOros2-17process has finished cleanly [pid 9290] ×2 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.11sINFOmove_groupClearing octomap...[0m ×2 + 3.11sINFOmove_groupOctomap cleared.[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 3.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 4.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 4.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 4.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 4.95sINFOobjective_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 + 4.95sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.95sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.96sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.96sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.00sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.00sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.00sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 6.43sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 6.61sWARNobjective_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 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.83sINFOjoint_trajectory_controllerReceived new action goal + 6.83sINFOjoint_trajectory_controllerAccepted new action goal + 6.83sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.83sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 6.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 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 | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 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 | 24 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857969 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857969 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 | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 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 | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 195 info |
+ 0.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 0.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 0.00sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 0.00sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.01sINFOros2-14process has finished cleanly [pid 9287] ×2 + 0.06sINFOspawner_arm_only_velocity_force_controllerLoaded arm_only_velocity_force_controller + 0.06sINFOros2Loaded arm_only_velocity_force_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 0.06sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 0.07sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.07sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×4 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.438] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.440] [info] Controller state will be published at 10 Hz. ×2 + 0.33sINFOros2_control_node[2026-06-25 23:25:07.441] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696568 ms (missed cycles : 2).[0m ×2 + 0.67sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 0.67sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 0.67sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 0.67sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 0.67sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 0.67sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 0.71sINFOros2-16process has finished cleanly [pid 9289] ×2 + 0.73sINFOspawner_platform_velocity_controllerLoaded platform_velocity_controller + 0.73sINFOros2Loaded platform_velocity_controller ×2 + 0.73sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 0.73sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 0.74sINFOplatform_velocity_controllerconfigure successful + 0.74sINFOros2_control_nodeconfigure successful[0m ×2 + 0.74sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 0.74sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 0.74sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.74sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.75sINFOspawner_platform_velocity_controllerConfigured and activated platform_velocity_controller + 0.75sINFOros2Configured and activated platform_velocity_controller ×2 + 1.05sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.05sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.05sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki + 1.05sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.05sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.06sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cn_z4480 --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_yxappk5n --params-file /tmp/launch_params_rapg2hki [0m ×2 + 1.10sINFOros2-11process has finished cleanly [pid 9284] ×2 + 1.12sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.12sINFOros2Loaded joint_velocity_controller ×2 + 1.13sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.13sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.513] [info] Controller state will be published at 20 Hz. ×2 + 1.40sINFOros2_control_node[2026-06-25 23:25:08.514] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.52sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480408 ms (missed cycles : 4).[0m ×2 + 1.73sINFOros2-17process has finished cleanly [pid 9290] ×2 + 2.05sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1782429909.15801311 seconds. ×3 + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.05sINFOmove_groupClearing octomap...[0m ×2 + 2.05sINFOmove_groupOctomap cleared.[0m ×2 + 2.06sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1782429909.16826463 seconds ×3 + 2.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1782429909.71649909 seconds. ×3 + 2.62sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1782429909.72668195 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.401600 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1782429910.27238798 seconds. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1782429910.42302489 seconds ×3 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3). + 3.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.553122 ms (missed cycles : 3).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1782429910.99623752 seconds. ×3 + 3.90sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.90sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.95sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1782429911.06637120 seconds ×3 + 4.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1782429911.60462666 seconds. ×3 + 4.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.51sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.51sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.51sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.51sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.51sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3). + 4.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451123 ms (missed cycles : 3).[0m ×2 + 5.38sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 5.55sWARNobjective_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 + 5.55sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712255 ms (missed cycles : 2).[0m ×2 | ||||