118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
10.5s
Avg test time
100%
Objective pass rate
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/objectives31 pass54 skip
| ✓ passed | Move Flasks to Burners | move_flasks_to_burners.xml | 42.8s | 270 warnings · 280 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.32sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.33sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.33sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 2.44sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780602302.91610909 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2). + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×6 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2).[0m ×2 + 7.10sWARNcontroller_managerOverrun might occur, Total time : 2527.377 us (Expected < 1666.667 us) --> Read time : 281.582 us, Update time : 1092.237 us, Write time : 1153.558 us + 7.11sWARNros2_control_nodeOverrun might occur, Total time : 2527.377 us (Expected < 1666.667 us) --> Read time : 281.582 us, Update time : 1092.237 us, Write time : 1153.558 us[0m ×2 + 7.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311289 ms (missed cycles : 2). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311289 ms (missed cycles : 2).[0m ×2 + 7.36sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 7.38sINFOros2_control_node[2026-06-04 19:45:06.190] [info] Received new action goal ×2 + 7.38sINFOros2_control_node[2026-06-04 19:45:06.190] [info] Accepted new action goal ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743687 ms (missed cycles : 6). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.743687 ms (missed cycles : 6).[0m ×2 + 8.25sWARNcontroller_managerOverrun might occur, Total time : 1799.726 us (Expected < 1666.667 us) --> Read time : 343.465 us, Update time : 979.821 us, Write time : 476.440 us + 8.25sWARNros2_control_nodeOverrun might occur, Total time : 1799.726 us (Expected < 1666.667 us) --> Read time : 343.465 us, Update time : 979.821 us, Write time : 476.440 us[0m ×2 + 9.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391496 ms (missed cycles : 8). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.391496 ms (missed cycles : 8).[0m ×2 + 9.38sWARNcontroller_managerOverrun might occur, Total time : 4653.147 us (Expected < 1666.667 us) --> Read time : 180.728 us, Update time : 3908.435 us, Write time : 563.984 us + 9.38sWARNros2_control_nodeOverrun might occur, Total time : 4653.147 us (Expected < 1666.667 us) --> Read time : 180.728 us, Update time : 3908.435 us, Write time : 563.984 us[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732797 ms (missed cycles : 3). + 10.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.732797 ms (missed cycles : 3).[0m ×2 + 10.58sWARNcontroller_managerOverrun might occur, Total time : 2369.540 us (Expected < 1666.667 us) --> Read time : 297.293 us, Update time : 75.293 us, Write time : 1996.954 us + 10.58sWARNros2_control_nodeOverrun might occur, Total time : 2369.540 us (Expected < 1666.667 us) --> Read time : 297.293 us, Update time : 75.293 us, Write time : 1996.954 us[0m ×2 + 10.59sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.60sINFOros2_control_node[2026-06-04 19:45:09.410] [info] Received new action goal ×2 + 10.60sINFOros2_control_node[2026-06-04 19:45:09.410] [info] Accepted new action goal ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949909 ms (missed cycles : 3). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949909 ms (missed cycles : 3).[0m ×2 + 11.59sWARNcontroller_managerOverrun might occur, Total time : 1975.873 us (Expected < 1666.667 us) --> Read time : 192.848 us, Update time : 1388.859 us, Write time : 394.166 us + 11.59sWARNros2_control_nodeOverrun might occur, Total time : 1975.873 us (Expected < 1666.667 us) --> Read time : 192.848 us, Update time : 1388.859 us, Write time : 394.166 us[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880811 ms (missed cycles : 2). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880811 ms (missed cycles : 2).[0m ×2 + 12.78sWARNcontroller_managerOverrun might occur, Total time : 6020.734 us (Expected < 1666.667 us) --> Read time : 227.790 us, Update time : 62.382 us, Write time : 5730.562 us + 12.79sWARNros2_control_nodeOverrun might occur, Total time : 6020.734 us (Expected < 1666.667 us) --> Read time : 227.790 us, Update time : 62.382 us, Write time : 5730.562 us[0m ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050386 ms (missed cycles : 5). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.050386 ms (missed cycles : 5).[0m ×2 + 13.58sINFOobjective_server_nodeFound path in 0 iterations (3e-07 s). ×4 + 13.58sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.61sINFOros2_control_node[2026-06-04 19:45:12.425] [info] Received new action goal ×2 + 13.61sINFOros2_control_node[2026-06-04 19:45:12.425] [info] Accepted new action goal ×2 + 14.00sWARNcontroller_managerOverrun might occur, Total time : 1765.705 us (Expected < 1666.667 us) --> Read time : 223.369 us, Update time : 454.180 us, Write time : 1088.156 us + 14.00sWARNros2_control_nodeOverrun might occur, Total time : 1765.705 us (Expected < 1666.667 us) --> Read time : 223.369 us, Update time : 454.180 us, Write time : 1088.156 us[0m ×2 + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797645 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797645 ms (missed cycles : 2).[0m ×2 + 15.06sWARNcontroller_managerOverrun might occur, Total time : 2813.509 us (Expected < 1666.667 us) --> Read time : 208.678 us, Update time : 2116.570 us, Write time : 488.261 us + 15.06sWARNros2_control_nodeOverrun might occur, Total time : 2813.509 us (Expected < 1666.667 us) --> Read time : 208.678 us, Update time : 2116.570 us, Write time : 488.261 us[0m ×2 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114688 ms (missed cycles : 4). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.114688 ms (missed cycles : 4).[0m ×2 + 16.26sWARNcontroller_managerOverrun might occur, Total time : 2375.061 us (Expected < 1666.667 us) --> Read time : 223.759 us, Update time : 599.036 us, Write time : 1552.266 us + 16.26sWARNros2_control_nodeOverrun might occur, Total time : 2375.061 us (Expected < 1666.667 us) --> Read time : 223.759 us, Update time : 599.036 us, Write time : 1552.266 us[0m ×2 + 16.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825691 ms (missed cycles : 3). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.825691 ms (missed cycles : 3).[0m ×2 + 16.58sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 16.58sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.58sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.58sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.58sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.58sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.58sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.58sINFOcontroller_managerSuccessfully switched controllers! ×4 + 16.58sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.58sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828391 ms (missed cycles : 4). + 17.47sWARNcontroller_managerOverrun might occur, Total time : 1957.563 us (Expected < 1666.667 us) --> Read time : 208.269 us, Update time : 801.624 us, Write time : 947.670 us + 17.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828391 ms (missed cycles : 4).[0m ×2 + 17.48sWARNros2_control_nodeOverrun might occur, Total time : 1957.563 us (Expected < 1666.667 us) --> Read time : 208.269 us, Update time : 801.624 us, Write time : 947.670 us[0m ×2 + 18.00sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 2:10.012 of wall time (426/40026). Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662555 ms (missed cycles : 3). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662555 ms (missed cycles : 3).[0m ×2 + 18.89sWARNcontroller_managerOverrun might occur, Total time : 6213.113 us (Expected < 1666.667 us) --> Read time : 731.231 us, Update time : 98.894 us, Write time : 5382.988 us + 18.89sWARNros2_control_nodeOverrun might occur, Total time : 6213.113 us (Expected < 1666.667 us) --> Read time : 731.231 us, Update time : 98.894 us, Write time : 5382.988 us[0m ×2 + 19.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004173 ms (missed cycles : 5). + 19.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.004173 ms (missed cycles : 5).[0m ×2 + 19.91sWARNcontroller_managerOverrun might occur, Total time : 2458.914 us (Expected < 1666.667 us) --> Read time : 226.359 us, Update time : 117.525 us, Write time : 2115.030 us + 19.91sWARNros2_control_nodeOverrun might occur, Total time : 2458.914 us (Expected < 1666.667 us) --> Read time : 226.359 us, Update time : 117.525 us, Write time : 2115.030 us[0m ×2 + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703608 ms (missed cycles : 2). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703608 ms (missed cycles : 2).[0m ×2 + 21.14sWARNcontroller_managerOverrun might occur, Total time : 1719.282 us (Expected < 1666.667 us) --> Read time : 277.351 us, Update time : 124.126 us, Write time : 1317.805 us + 21.14sWARNros2_control_nodeOverrun might occur, Total time : 1719.282 us (Expected < 1666.667 us) --> Read time : 277.351 us, Update time : 124.126 us, Write time : 1317.805 us[0m ×2 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408852 ms (missed cycles : 5). + 21.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408852 ms (missed cycles : 5).[0m ×2 + 22.36sWARNcontroller_managerOverrun might occur, Total time : 8861.494 us (Expected < 1666.667 us) --> Read time : 242.200 us, Update time : 8009.889 us, Write time : 609.405 us + 22.37sWARNros2_control_nodeOverrun might occur, Total time : 8861.494 us (Expected < 1666.667 us) --> Read time : 242.200 us, Update time : 8009.889 us, Write time : 609.405 us[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631361 ms (missed cycles : 2). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631361 ms (missed cycles : 2).[0m ×2 + 23.45sWARNcontroller_managerOverrun might occur, Total time : 1956.553 us (Expected < 1666.667 us) --> Read time : 452.139 us, Update time : 566.644 us, Write time : 937.770 us + 23.45sWARNros2_control_nodeOverrun might occur, Total time : 1956.553 us (Expected < 1666.667 us) --> Read time : 452.139 us, Update time : 566.644 us, Write time : 937.770 us[0m ×2 + 23.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132631 ms (missed cycles : 3). + 23.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.132631 ms (missed cycles : 3).[0m ×2 + 24.12sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 24.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.12sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 24.12sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 24.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 24.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.12sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 24.12sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 24.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 24.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358699 ms (missed cycles : 6). + 24.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.358699 ms (missed cycles : 6).[0m ×2 + 24.86sWARNcontroller_managerOverrun might occur, Total time : 3376.942 us (Expected < 1666.667 us) --> Read time : 146.106 us, Update time : 28.031 us, Write time : 3202.805 us + 24.86sWARNros2_control_nodeOverrun might occur, Total time : 3376.942 us (Expected < 1666.667 us) --> Read time : 146.106 us, Update time : 28.031 us, Write time : 3202.805 us[0m ×2 + 25.10sINFOros2_control_node[2026-06-04 19:45:23.909] [info] Received new action goal ×2 + 25.10sINFOros2_control_node[2026-06-04 19:45:23.909] [info] Accepted new action goal ×2 + 25.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476767 ms (missed cycles : 3). + 25.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476767 ms (missed cycles : 3).[0m ×2 + 26.01sWARNcontroller_managerOverrun might occur, Total time : 5274.293 us (Expected < 1666.667 us) --> Read time : 232.530 us, Update time : 4550.222 us, Write time : 491.541 us + 26.02sWARNros2_control_nodeOverrun might occur, Total time : 5274.293 us (Expected < 1666.667 us) --> Read time : 232.530 us, Update time : 4550.222 us, Write time : 491.541 us[0m ×2 + 26.28sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.501662224630075;y=0.473544122163861;z=0.5757551197465615, orientation: x=-0.0003208404100914391;y=0.9949830911508987;z=0.10003957719337829;w=-0.0007927043609334042 ×3 + 26.29sINFOobjective_server_nodeLink name: grasp_link, position: x=0.6598576612532956;y=0.560002886143494;z=0.650831489837671, orientation: x=-0.00013997501114327708;y=0.9955508839479362;z=0.09420424850691615;w=-0.0019943522071821764 ×3 + 26.41sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 26.43sINFOros2_control_node[2026-06-04 19:45:25.243] [info] Received new action goal ×2 + 26.43sINFOros2_control_node[2026-06-04 19:45:25.243] [info] Accepted new action goal ×2 + 26.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859322 ms (missed cycles : 3). + 26.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859322 ms (missed cycles : 3).[0m ×2 + 27.23sWARNcontroller_managerOverrun might occur, Total time : 5465.811 us (Expected < 1666.667 us) --> Read time : 160.126 us, Update time : 4767.932 us, Write time : 537.753 us + 27.24sWARNros2_control_nodeOverrun might occur, Total time : 5465.811 us (Expected < 1666.667 us) --> Read time : 160.126 us, Update time : 4767.932 us, Write time : 537.753 us[0m ×2 + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064619 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064619 ms (missed cycles : 2).[0m ×2 + 28.34sWARNcontroller_managerOverrun might occur, Total time : 2758.347 us (Expected < 1666.667 us) --> Read time : 287.272 us, Update time : 1546.786 us, Write time : 924.289 us + 28.34sWARNros2_control_nodeOverrun might occur, Total time : 2758.347 us (Expected < 1666.667 us) --> Read time : 287.272 us, Update time : 1546.786 us, Write time : 924.289 us[0m ×2 + 28.73sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 28.73sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 28.74sINFOros2_control_node[2026-06-04 19:45:27.550] [info] Received new action goal ×2 + 28.74sINFOros2_control_node[2026-06-04 19:45:27.550] [info] Accepted new action goal ×2 + 28.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138550 ms (missed cycles : 3). + 28.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138550 ms (missed cycles : 3).[0m ×2 + 29.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.122054 ms (missed cycles : 6). + 29.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.122054 ms (missed cycles : 6).[0m ×2 + 29.92sWARNcontroller_managerOverrun might occur, Total time : 3843.372 us (Expected < 1666.667 us) --> Read time : 161.846 us, Update time : 3087.231 us, Write time : 594.295 us + 29.93sWARNros2_control_nodeOverrun might occur, Total time : 3843.372 us (Expected < 1666.667 us) --> Read time : 161.846 us, Update time : 3087.231 us, Write time : 594.295 us[0m ×2 + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098894 ms (missed cycles : 3). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098894 ms (missed cycles : 3).[0m ×2 + 31.16sWARNcontroller_managerOverrun might occur, Total time : 3801.871 us (Expected < 1666.667 us) --> Read time : 175.738 us, Update time : 3071.589 us, Write time : 554.544 us + 31.17sWARNros2_control_nodeOverrun might occur, Total time : 3801.871 us (Expected < 1666.667 us) --> Read time : 175.738 us, Update time : 3071.589 us, Write time : 554.544 us[0m ×2 + 31.80sINFOros2_control_node[2026-06-04 19:45:30.605] [info] Received new action goal ×2 + 31.81sINFOros2_control_node[2026-06-04 19:45:30.605] [info] Accepted new action goal ×2 + 31.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859597 ms (missed cycles : 2). + 31.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859597 ms (missed cycles : 2).[0m ×2 + 32.38sWARNcontroller_managerOverrun might occur, Total time : 3679.757 us (Expected < 1666.667 us) --> Read time : 2903.624 us, Update time : 101.494 us, Write time : 674.639 us + 32.38sWARNros2_control_nodeOverrun might occur, Total time : 3679.757 us (Expected < 1666.667 us) --> Read time : 2903.624 us, Update time : 101.494 us, Write time : 674.639 us[0m ×2 + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848961 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848961 ms (missed cycles : 2).[0m ×2 + 33.49sWARNcontroller_managerOverrun might occur, Total time : 1940.262 us (Expected < 1666.667 us) --> Read time : 844.715 us, Update time : 92.764 us, Write time : 1002.783 us + 33.49sWARNros2_control_nodeOverrun might occur, Total time : 1940.262 us (Expected < 1666.667 us) --> Read time : 844.715 us, Update time : 92.764 us, Write time : 1002.783 us[0m ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714364 ms (missed cycles : 3). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714364 ms (missed cycles : 3).[0m ×2 + 34.39sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 34.43sINFOros2_control_node[2026-06-04 19:45:33.244] [info] Received new action goal ×2 + 34.43sINFOros2_control_node[2026-06-04 19:45:33.244] [info] Accepted new action goal ×2 + 34.71sWARNcontroller_managerOverrun might occur, Total time : 2775.997 us (Expected < 1666.667 us) --> Read time : 283.052 us, Update time : 75.303 us, Write time : 2417.642 us + 34.71sWARNros2_control_nodeOverrun might occur, Total time : 2775.997 us (Expected < 1666.667 us) --> Read time : 283.052 us, Update time : 75.303 us, Write time : 2417.642 us[0m ×2 + 35.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387861 ms (missed cycles : 8). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.387861 ms (missed cycles : 8).[0m ×2 + 36.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964630 ms (missed cycles : 2). + 36.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964630 ms (missed cycles : 2).[0m ×2 + 36.09sWARNcontroller_managerOverrun might occur, Total time : 4764.541 us (Expected < 1666.667 us) --> Read time : 237.890 us, Update time : 83.413 us, Write time : 4443.238 us + 36.10sWARNros2_control_nodeOverrun might occur, Total time : 4764.541 us (Expected < 1666.667 us) --> Read time : 237.890 us, Update time : 83.413 us, Write time : 4443.238 us[0m ×2 + 37.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069412 ms (missed cycles : 3). + 37.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069412 ms (missed cycles : 3).[0m ×2 + 37.37sWARNcontroller_managerOverrun might occur, Total time : 5401.108 us (Expected < 1666.667 us) --> Read time : 284.242 us, Update time : 99.204 us, Write time : 5017.662 us + 37.37sWARNros2_control_nodeOverrun might occur, Total time : 5401.108 us (Expected < 1666.667 us) --> Read time : 284.242 us, Update time : 99.204 us, Write time : 5017.662 us[0m ×2 + 38.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114773 ms (missed cycles : 3). + 38.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.114773 ms (missed cycles : 3).[0m ×2 + 38.61sWARNcontroller_managerOverrun might occur, Total time : 4004.549 us (Expected < 1666.667 us) --> Read time : 3380.433 us, Update time : 114.785 us, Write time : 509.331 us + 38.62sWARNros2_control_nodeOverrun might occur, Total time : 4004.549 us (Expected < 1666.667 us) --> Read time : 3380.433 us, Update time : 114.785 us, Write time : 509.331 us[0m ×2 + 39.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.717791 ms (missed cycles : 7). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.717791 ms (missed cycles : 7).[0m ×2 + 39.96sWARNcontroller_managerOverrun might occur, Total time : 3997.640 us (Expected < 1666.667 us) --> Read time : 210.029 us, Update time : 3181.965 us, Write time : 605.646 us + 39.96sWARNros2_control_nodeOverrun might occur, Total time : 3997.640 us (Expected < 1666.667 us) --> Read time : 210.029 us, Update time : 3181.965 us, Write time : 605.646 us[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169880 ms (missed cycles : 2). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169880 ms (missed cycles : 2).[0m ×2 + 41.07sWARNcontroller_managerOverrun might occur, Total time : 1674.101 us (Expected < 1666.667 us) --> Read time : 246.281 us, Update time : 98.694 us, Write time : 1329.126 us + 41.07sWARNros2_control_nodeOverrun might occur, Total time : 1674.101 us (Expected < 1666.667 us) --> Read time : 246.281 us, Update time : 98.694 us, Write time : 1329.126 us[0m ×2 + 41.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653392 ms (missed cycles : 6). + 41.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.653392 ms (missed cycles : 6).[0m ×2 + 42.21sWARNcontroller_managerOverrun might occur, Total time : 7660.944 us (Expected < 1666.667 us) --> Read time : 218.689 us, Update time : 6797.988 us, Write time : 644.267 us + 42.21sWARNros2_control_nodeOverrun might occur, Total time : 7660.944 us (Expected < 1666.667 us) --> Read time : 218.689 us, Update time : 6797.988 us, Write time : 644.267 us[0m ×2 + 42.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507389 ms (missed cycles : 5). + 42.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.507389 ms (missed cycles : 5).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664493 ms (missed cycles : 5). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664493 ms (missed cycles : 5).[0m ×2 + 43.45sWARNcontroller_managerOverrun might occur, Total time : 2939.124 us (Expected < 1666.667 us) --> Read time : 2172.281 us, Update time : 255.461 us, Write time : 511.382 us + 43.45sWARNros2_control_nodeOverrun might occur, Total time : 2939.124 us (Expected < 1666.667 us) --> Read time : 2172.281 us, Update time : 255.461 us, Write time : 511.382 us[0m ×2 + 44.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419395 ms (missed cycles : 3). + 44.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419395 ms (missed cycles : 3).[0m ×2 + 44.74sWARNcontroller_managerOverrun might occur, Total time : 2023.875 us (Expected < 1666.667 us) --> Read time : 170.047 us, Update time : 1467.522 us, Write time : 386.306 us + 44.74sWARNros2_control_nodeOverrun might occur, Total time : 2023.875 us (Expected < 1666.667 us) --> Read time : 170.047 us, Update time : 1467.522 us, Write time : 386.306 us[0m ×2 + 45.11sINFOros2_control_node[2026-06-04 19:45:43.924] [info] Received new action goal ×2 + 45.11sINFOros2_control_node[2026-06-04 19:45:43.924] [info] Accepted new action goal ×2 + 45.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971922 ms (missed cycles : 2). + 45.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971922 ms (missed cycles : 2).[0m ×2 + 45.84sWARNcontroller_managerOverrun might occur, Total time : 1780.665 us (Expected < 1666.667 us) --> Read time : 813.845 us, Update time : 125.885 us, Write time : 840.935 us + 45.84sWARNros2_control_nodeOverrun might occur, Total time : 1780.665 us (Expected < 1666.667 us) --> Read time : 813.845 us, Update time : 125.885 us, Write time : 840.935 us[0m ×2 + 46.25sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780602345.06635261 seconds ×3 + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962201 ms (missed cycles : 2). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962201 ms (missed cycles : 2).[0m ×2 + 46.86sWARNcontroller_managerOverrun might occur, Total time : 2541.008 us (Expected < 1666.667 us) --> Read time : 364.806 us, Update time : 74.573 us, Write time : 2101.629 us + 46.86sWARNros2_control_nodeOverrun might occur, Total time : 2541.008 us (Expected < 1666.667 us) --> Read time : 364.806 us, Update time : 74.573 us, Write time : 2101.629 us[0m ×2 + 46.95sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780602345.76606107 seconds. ×3 + 47.37sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 47.37sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 47.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275158 ms (missed cycles : 2). + 47.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275158 ms (missed cycles : 2).[0m ×2 + 48.20sWARNcontroller_managerOverrun might occur, Total time : 5650.649 us (Expected < 1666.667 us) --> Read time : 189.878 us, Update time : 4928.489 us, Write time : 532.282 us + 48.21sWARNros2_control_nodeOverrun might occur, Total time : 5650.649 us (Expected < 1666.667 us) --> Read time : 189.878 us, Update time : 4928.489 us, Write time : 532.282 us[0m ×2 + 48.21sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 48.23sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 48.24sINFOros2_control_node[2026-06-04 19:45:47.051] [info] Received new action goal ×2 + 48.24sINFOros2_control_node[2026-06-04 19:45:47.051] [info] Accepted new action goal ×2 + 48.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.713560 ms (missed cycles : 9). + 48.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.713560 ms (missed cycles : 9).[0m ×2 + 49.27sWARNcontroller_managerOverrun might occur, Total time : 1722.972 us (Expected < 1666.667 us) --> Read time : 611.165 us, Update time : 88.874 us, Write time : 1022.933 us + 49.28sWARNros2_control_nodeOverrun might occur, Total time : 1722.972 us (Expected < 1666.667 us) --> Read time : 611.165 us, Update time : 88.874 us, Write time : 1022.933 us[0m ×2 + 49.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103280 ms (missed cycles : 6). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103280 ms (missed cycles : 6).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_dynamic_point_cloud_avoidance_with_sphere_down_sample.xml | 38.1s | 6639 errors · 252 warnings · 6769 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313430 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313430 ms (missed cycles : 2).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 1883.600 us (Expected < 1666.667 us) --> Read time : 312.944 us, Update time : 650.047 us, Write time : 920.609 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 1883.600 us (Expected < 1666.667 us) --> Read time : 312.944 us, Update time : 650.047 us, Write time : 920.609 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745769 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745769 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 2790.688 us (Expected < 1666.667 us) --> Read time : 201.619 us, Update time : 1170.009 us, Write time : 1419.060 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 2790.688 us (Expected < 1666.667 us) --> Read time : 201.619 us, Update time : 1170.009 us, Write time : 1419.060 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.286258 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.286258 ms (missed cycles : 8).[0m ×2 + 2.92sWARNcontroller_managerOverrun might occur, Total time : 7385.382 us (Expected < 1666.667 us) --> Read time : 204.578 us, Update time : 6596.109 us, Write time : 584.695 us + 2.92sWARNros2_control_nodeOverrun might occur, Total time : 7385.382 us (Expected < 1666.667 us) --> Read time : 204.578 us, Update time : 6596.109 us, Write time : 584.695 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144168 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144168 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780602356.73639894 seconds ×3 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602357.37897158 seconds. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.99sINFOros2_control_node[2026-06-04 19:45:57.552] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-06-04 19:45:57.552] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479647 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479647 ms (missed cycles : 5).[0m ×2 + 4.25sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 4.25sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 9439.029 us (Expected < 1666.667 us) --> Read time : 179.748 us, Update time : 8627.685 us, Write time : 631.596 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 9439.029 us (Expected < 1666.667 us) --> Read time : 179.748 us, Update time : 8627.685 us, Write time : 631.596 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109450 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109450 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×6 + 5.26sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 5.31sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 5.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2182.512 us (Expected < 1666.667 us) --> Read time : 299.802 us, Update time : 854.266 us, Write time : 1028.444 us + 5.63sWARNros2_control_nodeOverrun might occur, Total time : 2182.512 us (Expected < 1666.667 us) --> Read time : 299.802 us, Update time : 854.266 us, Write time : 1028.444 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749585 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749585 ms (missed cycles : 2).[0m ×2 + 6.80sWARNcontroller_managerOverrun might occur, Total time : 1812.147 us (Expected < 1666.667 us) --> Read time : 209.259 us, Update time : 1145.598 us, Write time : 457.290 us + 6.80sWARNros2_control_nodeOverrun might occur, Total time : 1812.147 us (Expected < 1666.667 us) --> Read time : 209.259 us, Update time : 1145.598 us, Write time : 457.290 us[0m ×2 + 7.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246785 ms (missed cycles : 2). + 7.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.246785 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun might occur, Total time : 5446.290 us (Expected < 1666.667 us) --> Read time : 283.852 us, Update time : 4645.476 us, Write time : 516.962 us + 7.80sWARNros2_control_nodeOverrun might occur, Total time : 5446.290 us (Expected < 1666.667 us) --> Read time : 283.852 us, Update time : 4645.476 us, Write time : 516.962 us[0m ×2 + 8.01sINFOjoint_trajectory_controllerReceived new action goal ×2212 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132894030063 + 8.01sINFOros2_control_nodeReceived new action goal[0m ×4424 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132894030063[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203244110710 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203244110710[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000364223919277 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000364223919277[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160980459803 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160980459803[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161214843639 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161214843639[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054159661613 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054159661613[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088438332704 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088438332704[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000207092176955 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000207092176955[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112570756443 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112570756443[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125484620654 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125484620654[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166109741305 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166109741305[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006091844277948 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006091844277948[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003596445113110 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003596445113110[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002078266220257 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002078266220257[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001193272463568 ×2 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001193272463568[0m ×4 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000508450690446 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000508450690446[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509147727863 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509147727863[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813634785454 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000813634785454[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000505768721047 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000505768721047[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385728137631 ×2 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000385728137631[0m ×4 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000500468237596 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000500468237596[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521473 ms (missed cycles : 2). + 8.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521473 ms (missed cycles : 2).[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000645347251092 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000645347251092[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218665309594 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218665309594[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430178873551 + 8.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430178873551[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098815872767 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098815872767[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097575768793 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097575768793[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004503306540 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004503306540[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032008173514 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032008173514[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000908060561548 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000908060561548[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729780668643 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729780668643[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000713375737554 ×2 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000713375737554[0m ×4 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363171402089 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363171402089[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139562086035 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139562086035[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136006611442 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136006611442[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290159314703 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290159314703[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290040882574 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290040882574[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000394934434637 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000394934434637[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000263553412817 ×2 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000263553412817[0m ×4 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164477198199 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000164477198199[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093411892775 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093411892775[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000322904942820 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000322904942820[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352042605211 + 8.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352042605211[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205153092576 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000205153092576[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040081274551 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000040081274551[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000563513524976 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000563513524976[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150879462325 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150879462325[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043101861266 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043101861266[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316708933866 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000316708933866[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338442553865 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000338442553865[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625735156754 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001625735156754[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892404242748 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000892404242748[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431603052031 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431603052031[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082496690771 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082496690771[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712946951800 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712946951800[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001317235844977 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001317235844977[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281963364513 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281963364513[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933078720618 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000933078720618[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000129671988952 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000129671988952[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000289246576162 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000289246576162[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000367006599944 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000367006599944[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000301378661322 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000301378661322[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018869430256 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018869430256[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068301391425 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068301391425[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007973065779 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007973065779[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092308643364 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092308643364[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000322707368317 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000322707368317[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075174892574 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075174892574[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000362295843712 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000362295843712[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323734094097 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000323734094097[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158626483526 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000158626483526[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054955398160 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054955398160[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004849159146 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004849159146[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000599183683722 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000599183683722[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330258456821 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330258456821[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001011610563442 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001011610563442[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558429544104 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558429544104[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260047837294 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000260047837294[0m ×2 + 8.83sWARNcontroller_managerOverrun might occur, Total time : 2979.926 us (Expected < 1666.667 us) --> Read time : 158.617 us, Update time : 2315.608 us, Write time : 505.701 us + 8.83sWARNros2_control_nodeOverrun might occur, Total time : 2979.926 us (Expected < 1666.667 us) --> Read time : 158.617 us, Update time : 2315.608 us, Write time : 505.701 us[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075748380774 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075748380774[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147756663391 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147756663391[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134009596399 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134009596399[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042570880114 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042570880114[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000231113085014 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000231113085014[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034516499262 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034516499262[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065114488697 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065114488697[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045595029121 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045595029121[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000291746310035 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000291746310035[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144322033515 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144322033515[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144281544225 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144281544225[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077842782478 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077842782478[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000623371563413 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000623371563413[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306223298172 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306223298172[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074180936165 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074180936165[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095445845921 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095445845921[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152437052932 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152437052932[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088142978910 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000088142978910[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292311370548 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292311370548[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292383105327 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292383105327[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188360309603 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188360309603[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105394313750 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105394313750[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140520536177 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140520536177[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046219022977 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046219022977[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046428862133 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046428862133[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089841069282 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089841069282[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052954013639 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052954013639[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027340170987 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027340170987[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240345192066 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240345192066[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468097588224 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000468097588224[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269329784663 ×2 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269329784663[0m ×4 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000415980608277 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000415980608277[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213580751829 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213580751829[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131671160834 + 9.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131671160834[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031334015777 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031334015777[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060818000378 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060818000378[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407915620384 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407915620384[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158308447547 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158308447547[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052833935579 ×2 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052833935579[0m ×4 + 9.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331229 ms (missed cycles : 2). + 9.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331229 ms (missed cycles : 2).[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089324415221 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089324415221[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017579709669 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017579709669[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000296913461754 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000296913461754[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634938173361 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000634938173361[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000404898478876 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000404898478876[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026716482716 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026716482716[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264923244324 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264923244324[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103361070443 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000103361070443[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432550581672 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000432550581672[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129256607155 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000129256607155[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000471399571394 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000471399571394[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435770885688 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435770885688[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000216605282215 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000216605282215[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106225485345 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106225485345[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099052610483 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099052610483[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034194559842 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034194559842[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057889043531 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057889043531[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030103934794 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030103934794[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022638122590 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022638122590[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020637446366 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000020637446366[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032184187221 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032184187221[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005779688518 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005779688518[0m ×2 + 9.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022778138346 + 9.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022778138346[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024765408237 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024765408237[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084179130983 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084179130983[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204766794113 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204766794113[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000227991325934 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000227991325934[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020891733632 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020891733632[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000197626150403 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000197626150403[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077241510825 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077241510825[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247216391696 ×2 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247216391696[0m ×4 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478987028527 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002478987028527[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399240453756 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001399240453756[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000643088913500 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000643088913500[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185181597678 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185181597678[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185320156226 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185320156226[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241991844187 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241991844187[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000450320278170 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000450320278170[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357125511491 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357125511491[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000698209397760 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000698209397760[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000477322387318 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000477322387318[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315688606260 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315688606260[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137539645470 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137539645470[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071245786019 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071245786019[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052846342041 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052846342041[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080173648407 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080173648407[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047577782968 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047577782968[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179805728895 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179805728895[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156605772796 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000156605772796[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199229089918 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199229089918[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093824108435 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093824108435[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026229145862 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026229145862[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035133363484 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035133363484[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009942215387 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009942215387[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024568368645 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024568368645[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051980161608 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051980161608[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092245435963 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092245435963[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163667175796 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163667175796[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196964695769 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001196964695769[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000746645847459 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000746645847459[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243148440346 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243148440346[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000472313854815 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000472313854815[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000453944952907 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000453944952907[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000224058468474 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000224058468474[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150455966697 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000150455966697[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130393506277 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000130393506277[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051196437412 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051196437412[0m ×2 + 9.93sWARNcontroller_managerOverrun might occur, Total time : 4708.489 us (Expected < 1666.667 us) --> Read time : 145.337 us, Update time : 4030.040 us, Write time : 533.112 us + 9.93sWARNros2_control_nodeOverrun might occur, Total time : 4708.489 us (Expected < 1666.667 us) --> Read time : 145.337 us, Update time : 4030.040 us, Write time : 533.112 us[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001178450799521 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001178450799521[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154377731157 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000154377731157[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096989017346 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000096989017346[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000543621510000 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000543621510000[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299387512395 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000299387512395[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139349862950 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139349862950[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139221374152 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139221374152[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040860633085 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040860633085[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000341588774808 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000341588774808[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170931350158 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170931350158[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170711420576 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170711420576[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000171879263986 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000171879263986[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000185589052015 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000185589052015[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083777860265 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083777860265[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100913148112 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100913148112[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055155764181 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055155764181[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223074779253 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000223074779253[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319850553843 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319850553843[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003962391885 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003962391885[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003987782842 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003987782842[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007212923896 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007212923896[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007415504446 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007415504446[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008448326013 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008448326013[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518094997744 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000518094997744[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221075710588 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221075710588[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064076160598 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064076160598[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026137652991 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026137652991[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026329345894 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026329345894[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005017947150 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005017947150[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107358940176 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107358940176[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000693317889097 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000693317889097[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638792953540 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000638792953540[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601432200155 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000601432200155[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345308535554 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000345308535554[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974566 ms (missed cycles : 4). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.974566 ms (missed cycles : 4).[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000180881002940 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000180881002940[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024922483905 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024922483905[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290578517625 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290578517625[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257378568842 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000257378568842[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357660120894 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357660120894[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000651701586064 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000651701586064[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123370598729 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123370598729[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054275330957 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054275330957[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030857478633 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030857478633[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003037439424 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003037439424[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042516316438 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042516316438[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028317585396 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028317585396[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054851669596 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054851669596[0m ×2 + 10.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036915349749 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000036915349749[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142413590824 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142413590824[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339507310720 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339507310720[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211617155054 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000211617155054[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000124815651111 ×2 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000124815651111[0m ×4 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000563648813178 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000563648813178[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330212690998 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000330212690998[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131708410665 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000131708410665[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032987330004 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032987330004[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032922589653 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032922589653[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076256198895 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000076256198895[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022337702348 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022337702348[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118529812550 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000118529812550[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000425811293590 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000425811293590[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210017282081 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210017282081[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117827615867 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117827615867[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117947076995 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117947076995[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053944772236 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053944772236[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276606903409 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000276606903409[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149269006827 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149269006827[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099182104275 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099182104275[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046079141090 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000046079141090[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144403036883 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144403036883[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100279753462 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000100279753462[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067366945905 ×2 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000067366945905[0m ×4 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089772889787 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000089772889787[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057297096773 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057297096773[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172779294521 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172779294521[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055773699899 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055773699899[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067334813288 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067334813288[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031003815291 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031003815291[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008584514325 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008584514325[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004672216662 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004672216662[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013123284901 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013123284901[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038033131504 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038033131504[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018979835784 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018979835784[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075699296772 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075699296772[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075191601279 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075191601279[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039003458183 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039003458183[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014871488765 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014871488765[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.001094734499142 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: -0.001094734499142[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005417238851 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005417238851[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245066006338 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000245066006338[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098403640769 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000098403640769[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057497194158 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057497194158[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031919126725 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031919126725[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215309929731 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215309929731[0m ×2 + 10.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967460157657 ×2 + 10.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000967460157657[0m ×4 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426437574925 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000426437574925[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000955981652816 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000955981652816[0m ×2 + 10.97sWARNcontroller_managerOverrun might occur, Total time : 4996.281 us (Expected < 1666.667 us) --> Read time : 167.497 us, Update time : 4181.537 us, Write time : 647.247 us + 10.97sWARNros2_control_nodeOverrun might occur, Total time : 4996.281 us (Expected < 1666.667 us) --> Read time : 167.497 us, Update time : 4181.537 us, Write time : 647.247 us[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000377039993729 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000377039993729[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094765999422 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094765999422[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024745391424 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024745391424[0m ×2 + 11.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024749356060 + 11.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024749356060[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014764977572 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014764977572[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034076891439 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034076891439[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041111735679 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041111735679[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039812107971 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039812107971[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000391612778 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000391612778[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012658596347 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012658596347[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057336264823 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057336264823[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004153584094 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004153584094[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008457541787 ×2 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008457541787[0m ×4 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014729995146 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014729995146[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017737191958 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017737191958[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883827219133 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883827219133[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292497297950 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000292497297950[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038119802637 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038119802637[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043949407949 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043949407949[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087469269494 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087469269494[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071237882183 ×2 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071237882183[0m ×4 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054579549409 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054579549409[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187505827459 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187505827459[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149907711003 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149907711003[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147066009584 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147066009584[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190751045877 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000190751045877[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126753468043 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000126753468043[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458722649111 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000458722649111[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286662903499 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000286662903499[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285865646398 ×2 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285865646398[0m ×4 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159054426884 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159054426884[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074488618422 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074488618422[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416471 ms (missed cycles : 2). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416471 ms (missed cycles : 2).[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023899696365 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023899696365[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010828877304 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010828877304[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027219572032 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027219572032[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021920696901 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021920696901[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017114417926 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017114417926[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140553535365 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140553535365[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368230991083 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001368230991083[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000970760196154 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000970760196154[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000801524832858 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000801524832858[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236355538706 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236355538706[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066761951999 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066761951999[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000952566261264 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000952566261264[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000960553700814 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000960553700814[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000397993446000 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000397993446000[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315751460626 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315751460626[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178374790297 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178374790297[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086103693073 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086103693073[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429143599884 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429143599884[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065810507683 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065810507683[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352193031198 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000352193031198[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000742256531854 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000742256531854[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000786720825897 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000786720825897[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001331326733509 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001331326733509[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001331262114174 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001331262114174[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673491740883 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673491740883[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087441874332 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000087441874332[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033812311882 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033812311882[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186617822395 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000186617822395[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000216197821384 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000216197821384[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000961605628564 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000961605628564[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188303403351 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188303403351[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033976795246 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033976795246[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095639205766 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095639205766[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113411897834 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113411897834[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000365033540646 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000365033540646[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127863640481 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000127863640481[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033593112106 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033593112106[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060392176629 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000060392176629[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065636903382 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065636903382[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023247445837 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023247445837[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495993542581 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495993542581[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180999619534 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001180999619534[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001307594412501 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001307594412501[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934664367895 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000934664367895[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000450031476230 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000450031476230[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748773200102 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001748773200102[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130608245231 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001130608245231[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000412141211145 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000412141211145[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111574987598 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000111574987598[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054537766180 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054537766180[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054360574881 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054360574881[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000749489654488 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000749489654488[0m ×2 + 11.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260494538584 + 11.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260494538584[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220544441069 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220544441069[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220559795881 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220559795881[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536573770905 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001536573770905[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001705988309750 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001705988309750[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620729913669 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620729913669[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192481612552 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192481612552[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033454873264 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033454873264[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033590664973 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001033590664973[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040131552286 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040131552286[0m ×2 + 11.98sWARNcontroller_managerOverrun might occur, Total time : 4811.603 us (Expected < 1666.667 us) --> Read time : 210.819 us, Update time : 4001.479 us, Write time : 599.305 us + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000626654120729 + 11.98sWARNros2_control_nodeOverrun might occur, Total time : 4811.603 us (Expected < 1666.667 us) --> Read time : 210.819 us, Update time : 4001.479 us, Write time : 599.305 us[0m ×2 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000626654120729[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000696509601012 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000696509601012[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203855966928 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001203855966928[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888338235600 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888338235600[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000392940675753 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000392940675753[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000997100183749 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000997100183749[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376343579930 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376343579930[0m ×2 + 12.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680716255302 + 12.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680716255302[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947831371291 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001947831371291[0m ×2 + 12.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001916610284471 + 12.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001916610284471[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865692240089 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865692240089[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900090838920 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000900090838920[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933074019698 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001933074019698[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001774813982645 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001774813982645[0m ×2 + 12.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126178358011 + 12.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126178358011[0m ×2 + 12.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164649475546 + 12.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164649475546[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712571632200 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000712571632200[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771038660438 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000771038660438[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273566372726 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273566372726[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766672540168 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001766672540168[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862097882095 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001862097882095[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205754154961 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205754154961[0m ×2 + 12.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001123869463400 + 12.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001123869463400[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351192182595 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001351192182595[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246526497051 + 12.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001246526497051[0m ×2 + 12.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001436989439706 + 12.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001436989439706[0m ×2 + 12.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557074642568 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001557074642568[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000713866993773 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000713866993773[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193864231935 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193864231935[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055000485052 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001055000485052[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336905991160 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001336905991160[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836779175777 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836779175777[0m ×2 + 12.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857372 ms (missed cycles : 2). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857372 ms (missed cycles : 2).[0m ×2 + 13.35sWARNcontroller_managerOverrun might occur, Total time : 4528.713 us (Expected < 1666.667 us) --> Read time : 3926.337 us, Update time : 80.814 us, Write time : 521.562 us + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792598 ms (missed cycles : 3). + 13.36sWARNros2_control_nodeOverrun might occur, Total time : 4528.713 us (Expected < 1666.667 us) --> Read time : 3926.337 us, Update time : 80.814 us, Write time : 521.562 us[0m ×2 + 13.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792598 ms (missed cycles : 3).[0m ×2 + 14.36sWARNcontroller_managerOverrun might occur, Total time : 4892.049 us (Expected < 1666.667 us) --> Read time : 322.184 us, Update time : 4011.791 us, Write time : 558.074 us + 14.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132317 ms (missed cycles : 4). + 14.36sWARNros2_control_nodeOverrun might occur, Total time : 4892.049 us (Expected < 1666.667 us) --> Read time : 322.184 us, Update time : 4011.791 us, Write time : 558.074 us[0m ×2 + 14.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132317 ms (missed cycles : 4).[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215052361419 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215052361419[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269063753949 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000269063753949[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152791805874 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152791805874[0m ×2 + 14.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240547867590 + 14.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240547867590[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048682592986 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048682592986[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086323177460 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086323177460[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135059076657 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135059076657[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061470489846 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000061470489846[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000607912476137 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000607912476137[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000707299347555 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000707299347555[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000796334604543 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000796334604543[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175616262957 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000175616262957[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052720323834 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000052720323834[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085373270940 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085373270940[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159580529041 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159580529041[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204911510017 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204911510017[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099835399110 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000099835399110[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315855927227 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315855927227[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039431025002 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039431025002[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247366779114 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000247366779114[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137826549094 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000137826549094[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116720668628 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000116720668628[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947774186251 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000947774186251[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001122146183466 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001122146183466[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224036165416 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224036165416[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000868564473573 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000868564473573[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062854763880 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062854763880[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217706299453 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000217706299453[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493744886907 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001493744886907[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902175006157 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001902175006157[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856236933293 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001856236933293[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057213438313 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000057213438313[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000610210840323 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000610210840323[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001664023254775 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001664023254775[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916383241852 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916383241852[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916650945443 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000916650945443[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575747265139 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001575747265139[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640571565200 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000640571565200[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220240329031 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220240329031[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295298123156 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295298123156[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003428605428 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003428605428[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035588448665 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035588448665[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000275374111779 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000275374111779[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488863252908 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000488863252908[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349508709605 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000349508709605[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000281727295754 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000281727295754[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000734343429669 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000734343429669[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000716273686809 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000716273686809[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190764886487 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190764886487[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183282386503 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183282386503[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006625407427858 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006625407427858[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006454260510091 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006454260510091[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525688797205 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005525688797205[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965054432610 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002965054432610[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452612527482 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452612527482[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558937168155 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001558937168155[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000532546932585 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000532546932585[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000342261457954 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000342261457954[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000618423864092 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000618423864092[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000541440139594 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000541440139594[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000296545511165 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000296545511165[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040393029544 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001040393029544[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000433875870893 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000433875870893[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029725998309 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029725998309[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029631604494 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029631604494[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215643194514 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000215643194514[0m ×2 + 15.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399064 ms (missed cycles : 2). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.399064 ms (missed cycles : 2).[0m ×2 + 15.41sWARNcontroller_managerOverrun might occur, Total time : 5533.755 us (Expected < 1666.667 us) --> Read time : 196.918 us, Update time : 4720.301 us, Write time : 616.536 us + 15.42sWARNros2_control_nodeOverrun might occur, Total time : 5533.755 us (Expected < 1666.667 us) --> Read time : 196.918 us, Update time : 4720.301 us, Write time : 616.536 us[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209162571156 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000209162571156[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192344597941 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192344597941[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425307840612 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002425307840612[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456138091850 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004456138091850[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191164718098 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191164718098[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805900880637 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002805900880637[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332055333185 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003332055333185[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636069937334 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636069937334[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937211965654 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937211965654[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796101723678 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796101723678[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746153875486 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002746153875486[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631699345313 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631699345313[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788685432369 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001788685432369[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830127925021 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830127925021[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157925771244 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157925771244[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000889190891277 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000889190891277[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183223318202 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183223318202[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560280133878 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001560280133878[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271265962663 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002271265962663[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354443303593 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002354443303593[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563644011800 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563644011800[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188065692260 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188065692260[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254679328122 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003254679328122[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526149198965 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526149198965[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001588591157058 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001588591157058[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183582587409 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183582587409[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783903217092 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003783903217092[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626736286093 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626736286093[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817237495996 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817237495996[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247678782365 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247678782365[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660440353180 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660440353180[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116176715266 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116176715266[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769960828164 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769960828164[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572235485189 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572235485189[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472783758616 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472783758616[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003248229950255 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003248229950255[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098686455817 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003098686455817[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099191221369 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003099191221369[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133620905585 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003133620905585[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898146032887 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002898146032887[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737717162025 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737717162025[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505376376087 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505376376087[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082340894851 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082340894851[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002804206634202 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002804206634202[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632922127552 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002632922127552[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537133533822 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537133533822[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305919215359 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003305919215359[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937529597247 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937529597247[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007428723552 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007428723552[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791138816412 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791138816412[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654094125579 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654094125579[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572720267072 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572720267072[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002528887690711 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002528887690711[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735075923226 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735075923226[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202260286898 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202260286898[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003422020985637 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003422020985637[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984798742433 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984798742433[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984413049289 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984413049289[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763306661817 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763306661817[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627451558921 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002627451558921[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947935182148 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002947935182148[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940987563659 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940987563659[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333570527642 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333570527642[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934158583618 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934158583618[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687538875532 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687538875532[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432671010687 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432671010687[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984200500216 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984200500216[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972952957271 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972952957271[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872335764246 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872335764246[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330453652399 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330453652399[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819581298714 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003819581298714[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277959131894 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003277959131894[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897311816652 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897311816652[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857378175961 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003857378175961[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203346107798 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203346107798[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794656536234 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002794656536234[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560435100723 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002560435100723[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297957637291 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297957637291[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873415524334 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873415524334[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622151438986 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622151438986[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487751703527 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487751703527[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487023553268 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002487023553268[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759765933330 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759765933330[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432346228804 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432346228804[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014757515986 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003014757515986[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607224059416 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002607224059416[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409731670318 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002409731670318[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108908309985 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108908309985[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758705726030 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758705726030[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861747638279 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002861747638279[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840117800816 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840117800816[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952057750192 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003952057750192[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323651515544 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003323651515544[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913956366068 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913956366068[0m ×2 + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267603 ms (missed cycles : 2). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.267603 ms (missed cycles : 2).[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662912370285 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662912370285[0m ×2 + 16.43sWARNcontroller_managerOverrun might occur, Total time : 5650.420 us (Expected < 1666.667 us) --> Read time : 301.483 us, Update time : 4612.316 us, Write time : 736.621 us + 16.43sWARNros2_control_nodeOverrun might occur, Total time : 5650.420 us (Expected < 1666.667 us) --> Read time : 301.483 us, Update time : 4612.316 us, Write time : 736.621 us[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680914514551 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680914514551[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587570888541 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002587570888541[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969886624625 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969886624625[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949485599953 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949485599953[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469765610117 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004469765610117[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610913785155 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003610913785155[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077789693215 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077789693215[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957043647381 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002957043647381[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851927705174 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851927705174[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244546150840 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244546150840[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971652446792 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003971652446792[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269313398253 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269313398253[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828239500063 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828239500063[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526957505199 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003526957505199[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984364522640 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002984364522640[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881677935332 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881677935332[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777515168056 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777515168056[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178463588927 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003178463588927[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912943069928 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003912943069928[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224183479678 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224183479678[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595981419907 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595981419907[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016427761910 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016427761910[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667587837798 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667587837798[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003600577026708 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003600577026708[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003031425503342 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003031425503342[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441665947965 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441665947965[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815599023135 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815599023135[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801523472514 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801523472514[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327264337029 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004327264337029[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512814594860 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003512814594860[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061484614296 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061484614296[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289696102234 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289696102234[0m ×2 + 16.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653401558370 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653401558370[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025702590574 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025702590574[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741743783372 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003741743783372[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078500086604 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078500086604[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849528487188 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849528487188[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695031535388 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695031535388[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174361489211 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174361489211[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367225398504 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367225398504[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726820661748 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003726820661748[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074427090839 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074427090839[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002395550080503 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002395550080503[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505738796959 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505738796959[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120156233425 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003120156233425[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866977017178 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866977017178[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274249971243 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274249971243[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473250363663 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473250363663[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518440980261 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518440980261[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869594447900 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869594447900[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003125065832064 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003125065832064[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731463394421 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731463394421[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042267876466 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003042267876466[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689759782342 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689759782342[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025014728112 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025014728112[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675366916611 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675366916611[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016782475608 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016782475608[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685245912162 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003685245912162[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003024916870368 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003024916870368[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684710187553 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684710187553[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026625720039 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026625720039[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797121041587 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797121041587[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796694332117 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002796694332117[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632400460674 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632400460674[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095838034514 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095838034514[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176004764909 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003176004764909[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404143402372 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002404143402372[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438721498422 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003438721498422[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013351099673 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013351099673[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308209248579 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004308209248579[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435587626888 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004435587626888[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468062198817 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468062198817[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565531648892 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565531648892[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522823606052 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003522823606052[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875275450489 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003875275450489[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004080170273469 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004080170273469[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201165225724 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201165225724[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287933470062 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002287933470062[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311088352395 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311088352395[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880874479801 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003880874479801[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180149711698 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180149711698[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316978371667 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316978371667[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360369705656 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004360369705656[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354219998047 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354219998047[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358350651263 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003358350651263[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964896387916 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964896387916[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112816618018 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112816618018[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599146898847 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599146898847[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853386187834 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002853386187834[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518448832471 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518448832471[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913566279219 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913566279219[0m ×2 + 17.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052229 ms (missed cycles : 2). + 17.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052229 ms (missed cycles : 2).[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131820215774 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004131820215774[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237179627432 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004237179627432[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559020632818 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559020632818[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505170038421 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003505170038421[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830659900561 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003830659900561[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002349853787114 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002349853787114[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267706279863 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267706279863[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363172656099 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363172656099[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220855758160 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220855758160[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714806016263 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003714806016263[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988730373141 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988730373141[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126306900600 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126306900600[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184489873512 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184489873512[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190687675046 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190687675046[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177769886755 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004177769886755[0m ×2 + 17.58sWARNcontroller_managerOverrun might occur, Total time : 1667.521 us (Expected < 1666.667 us) --> Read time : 196.688 us, Update time : 67.523 us, Write time : 1403.310 us + 17.58sWARNros2_control_nodeOverrun might occur, Total time : 1667.521 us (Expected < 1666.667 us) --> Read time : 196.688 us, Update time : 67.523 us, Write time : 1403.310 us[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488872260359 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004488872260359[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073328433128 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003073328433128[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530696221060 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003530696221060[0m ×2 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811240732839 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002811240732839[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879013183997 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879013183997[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052310144669 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052310144669[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125024015587 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125024015587[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141246379854 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141246379854[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128443206648 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128443206648[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103434520192 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103434520192[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075297617091 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004075297617091[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379530279256 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379530279256[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249160822807 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249160822807[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173231782238 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004173231782238[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951142031544 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002951142031544[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617898980945 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617898980945[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311661173897 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003311661173897[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708638612574 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708638612574[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005596222661452 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005596222661452[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979000977092 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004979000977092[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575275124704 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575275124704[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306211360862 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004306211360862[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466741509064 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004466741509064[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698265853971 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698265853971[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298879440942 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298879440942[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114103810033 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004114103810033[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406748646781 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004406748646781[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187604547729 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004187604547729[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002015958145630 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002015958145630[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450209966974 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002450209966974[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003228710053032 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003228710053032[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644801616638 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644801616638[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624962182676 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004624962182676[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438924339320 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002438924339320[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435218919258 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002435218919258[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135020457400 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135020457400[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105193279901 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004105193279901[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659441708092 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659441708092[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978389375531 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978389375531[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504102722381 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504102722381[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180841782662 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004180841782662[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968473849800 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003968473849800[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836125709894 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003836125709894[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758367387106 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758367387106[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720149814073 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720149814073[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704458956844 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003704458956844[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698387661344 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698387661344[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695199430576 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003695199430576[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231091678262 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005231091678262[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551504687107 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551504687107[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696820401601 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696820401601[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526528847644 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004526528847644[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312913704452 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004312913704452[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994919515619 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003994919515619[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828599721709 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828599721709[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727495322536 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727495322536[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151782600568 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151782600568[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463187681810 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463187681810[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724442737741 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724442737741[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225081537424 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004225081537424[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915651119578 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915651119578[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219783920151 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219783920151[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005183215559907 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005183215559907[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524632944054 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004524632944054[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085637927342 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085637927342[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560428923786 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560428923786[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088770822968 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088770822968[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707813712617 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707813712617[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743530492300 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004743530492300[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531606128089 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531606128089[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302009959175 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302009959175[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557878683581 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557878683581[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054952116626 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004054952116626[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119740690070 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005119740690070[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313373447422 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313373447422[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843754460225 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843754460225[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675668676069 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004675668676069[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070877246564 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004070877246564[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003696852693710 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003696852693710[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849996657169 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849996657169[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111091967775 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004111091967775[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700257870246 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700257870246[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819548372870 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819548372870[0m ×2 + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.777295 ms (missed cycles : 7). + 18.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.777295 ms (missed cycles : 7).[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044712864168 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005044712864168[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348028876186 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003348028876186[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344280239933 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344280239933[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334404467491 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005334404467491[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005693176202444 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005693176202444[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666829028326 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666829028326[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579828063858 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003579828063858[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630270807727 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630270807727[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379011895247 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379011895247[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005720446794617 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005720446794617[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630377582108 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004630377582108[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174932887844 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005174932887844[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215544413448 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004215544413448[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004961055248721 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004961055248721[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094621978153 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004094621978153[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810674586546 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810674586546[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955989929403 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955989929403[0m ×2 + 18.71sWARNcontroller_managerOverrun might occur, Total time : 2143.121 us (Expected < 1666.667 us) --> Read time : 272.242 us, Update time : 1422.570 us, Write time : 448.309 us + 18.72sWARNros2_control_nodeOverrun might occur, Total time : 2143.121 us (Expected < 1666.667 us) --> Read time : 272.242 us, Update time : 1422.570 us, Write time : 448.309 us[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687822533493 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004687822533493[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071731313723 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071731313723[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046262099825 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004046262099825[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836753367559 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004836753367559[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005543294992291 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005543294992291[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705169673602 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705169673602[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722454990417 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005722454990417[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527389573986 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527389573986[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946105446578 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946105446578[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989670926553 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989670926553[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692678702295 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692678702295[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191215098603 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191215098603[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849930530318 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849930530318[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444835909405 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444835909405[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859938765852 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859938765852[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086405743688 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086405743688[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188728915780 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188728915780[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383288829570 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383288829570[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244995174659 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244995174659[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655863786703 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655863786703[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627398214223 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627398214223[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219946035748 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219946035748[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584274006543 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584274006543[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792279117995 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792279117995[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896094892865 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896094892865[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933208315129 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933208315129[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929789203457 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929789203457[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902395689050 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004902395689050[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843400034659 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843400034659[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243616881564 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004243616881564[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458670421729 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458670421729[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590811250071 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590811250071[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666372470693 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004666372470693[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698740164554 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004698740164554[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432419532654 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003432419532654[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576967488451 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576967488451[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634401381680 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634401381680[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648796039755 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648796039755[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638260184020 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004638260184020[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612648798558 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612648798558[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578735971831 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004578735971831[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187184514297 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005187184514297[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919030908476 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004919030908476[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730647204630 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004730647204630[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603385548108 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004603385548108[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408862247696 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408862247696[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280908494801 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003280908494801[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601108724936 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005601108724936[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298095624085 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298095624085[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040087178388 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005040087178388[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151138845339 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151138845339[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527760424103 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527760424103[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078130851316 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078130851316[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766706692438 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004766706692438[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560001881994 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560001881994[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429183673585 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429183673585[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350981748612 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004350981748612[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307389847060 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307389847060[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285217285399 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004285217285399[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885739594645 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885739594645[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430109219464 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002430109219464[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003523516856880 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003523516856880[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005772163146242 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005772163146242[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007125405388073 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007125405388073[0m ×2 + 19.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875226 ms (missed cycles : 5). + 19.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.875226 ms (missed cycles : 5).[0m ×2 + 19.94sWARNcontroller_managerOverrun might occur, Total time : 5292.575 us (Expected < 1666.667 us) --> Read time : 291.353 us, Update time : 3542.430 us, Write time : 1458.792 us + 19.94sWARNros2_control_nodeOverrun might occur, Total time : 5292.575 us (Expected < 1666.667 us) --> Read time : 291.353 us, Update time : 3542.430 us, Write time : 1458.792 us[0m ×2 + 20.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171193 ms (missed cycles : 2). + 20.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.171193 ms (missed cycles : 2).[0m ×2 + 20.98sWARNcontroller_managerOverrun might occur, Total time : 3981.879 us (Expected < 1666.667 us) --> Read time : 252.331 us, Update time : 2979.696 us, Write time : 749.852 us + 20.98sWARNros2_control_nodeOverrun might occur, Total time : 3981.879 us (Expected < 1666.667 us) --> Read time : 252.331 us, Update time : 2979.696 us, Write time : 749.852 us[0m ×2 + 21.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652038 ms (missed cycles : 2). + 21.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652038 ms (missed cycles : 2).[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824885235619 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003824885235619[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000578593451313 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000578593451313[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002302431902256 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002302431902256[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799859559830 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799859559830[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535347704989 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535347704989[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164554017375 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001164554017375[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041019711473191 ×2 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041019711473191[0m ×4 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024476033003055 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024476033003055[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013235722088788 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013235722088788[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873884806004 ×2 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873884806004[0m ×4 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002240418089853 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002240418089853[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002465986994563 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002465986994563[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012784447530030 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012784447530030[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007262682627057 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007262682627057[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257819306459 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257819306459[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377480816596 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377480816596[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176978921380 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176978921380[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222271112089 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000222271112089[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001062161624419 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001062161624419[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001206468520726 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001206468520726[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001148520556432 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001148520556432[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453446697572 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000453446697572[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387230913353 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387230913353[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022108788842214 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022108788842214[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016177336311280 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016177336311280[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041118811710408 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041118811710408[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027198570186034 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027198570186034[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015772677552982 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015772677552982[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007958683393913 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007958683393913[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002340284716102 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002340284716102[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001114371495583 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001114371495583[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002598870478239 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002598870478239[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003020116912109 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003020116912109[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002739735232426 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002739735232426[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001502783191990 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001502783191990[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001009187306319 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001009187306319[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000875542933010 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000875542933010[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738895332137 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738895332137[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788163061889 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002788163061889[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376715125589 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001376715125589[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489275772882 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489275772882[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357764274996 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000357764274996[0m ×2 + 21.99sWARNcontroller_managerOverrun might occur, Total time : 7173.573 us (Expected < 1666.667 us) --> Read time : 220.159 us, Update time : 6449.333 us, Write time : 504.081 us + 21.99sWARNros2_control_nodeOverrun might occur, Total time : 7173.573 us (Expected < 1666.667 us) --> Read time : 220.159 us, Update time : 6449.333 us, Write time : 504.081 us[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702860618808 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003702860618808[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006915633470281 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006915633470281[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021194708942300 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021194708942300[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017565302118583 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017565302118583[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013391972006188 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013391972006188[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011989534227564 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011989534227564[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008954631257930 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008954631257930[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890628950077 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005890628950077[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006974087728319 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006974087728319[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023893884044 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023893884044[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214368190029 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214368190029[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443394084731 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001443394084731[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001015013908478 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001015013908478[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977700554156 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977700554156[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001154785989895 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001154785989895[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600608752189 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600608752189[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358054269637 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358054269637[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001043096628047 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001043096628047[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037032619607 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002037032619607[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935285571573 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002935285571573[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525487722230 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004525487722230[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947545087065 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947545087065[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544958608380 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001544958608380[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538713331760 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538713331760[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651432204114 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651432204114[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890340288474 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890340288474[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359764825870 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003359764825870[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012080439674 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003012080439674[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801910782791 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801910782791[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650641896606 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003650641896606[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003180704752942 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003180704752942[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888833158732 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888833158732[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723346332699 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002723346332699[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642426022239 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642426022239[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613803346873 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002613803346873[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614286433788 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002614286433788[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629237886034 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629237886034[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648520641799 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002648520641799[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504002877827 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003504002877827[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160277645806 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003160277645806[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933371825448 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002933371825448[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748332373050 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002748332373050[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193411333657 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193411333657[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637300539483 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003637300539483[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244394082714 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003244394082714[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981966220335 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002981966220335[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818310032572 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818310032572[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653075548358 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003653075548358[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210513796746 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003210513796746[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936724996936 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002936724996936[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709559293503 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709559293503[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035072750890 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035072750890[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275624242902 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003275624242902[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035666611488 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035666611488[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881960945188 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002881960945188[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120528168322 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004120528168322[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498330565627 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498330565627[0m ×2 + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387595 ms (missed cycles : 5). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.387595 ms (missed cycles : 5).[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738159289158 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738159289158[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558103782856 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558103782856[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338022632431 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003338022632431[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467749995866 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467749995866[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585102455621 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585102455621[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872567507553 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003872567507553[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650367552185 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650367552185[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785144988450 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785144988450[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220419893683 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003220419893683[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656963023188 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003656963023188[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135078260597 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135078260597[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826146756311 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002826146756311[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662831917031 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662831917031[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911768612085 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003911768612085[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980454345568 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003980454345568[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370899545443 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003370899545443[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991825120296 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002991825120296[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774125158904 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774125158904[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663477293834 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002663477293834[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480045840431 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003480045840431[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596409720540 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596409720540[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115103752493 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004115103752493[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897584602069 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897584602069[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612484009845 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612484009845[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022600970455 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022600970455[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792518988728 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004792518988728[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934506797961 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934506797961[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714957461389 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714957461389[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817534021891 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817534021891[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233237977351 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003233237977351[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142122984700 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142122984700[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418780742353 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003418780742353[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842631327908 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842631327908[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226717933109 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003226717933109[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862309153125 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002862309153125[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048976431959 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003048976431959[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753148875913 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002753148875913[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082190950572 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082190950572[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499852962298 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499852962298[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034486214652 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005034486214652[0m ×2 + 23.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045930293520 + 23.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045930293520[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388180327789 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388180327789[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217353858516 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004217353858516[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338208008545 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004338208008545[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536376794842 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536376794842[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039612575626 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003039612575626[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008598283505 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008598283505[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336945742103 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003336945742103[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003155258016837 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003155258016837[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135768105167 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135768105167[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545432849490 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545432849490[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709193673082 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709193673082[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175370039717 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003175370039717[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098514749570 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098514749570[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399563746959 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003399563746959[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811642927693 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811642927693[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715138458238 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715138458238[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945320064205 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945320064205[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695748446436 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695748446436[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709402190381 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003709402190381[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428853995092 + 23.24sWARNcontroller_managerOverrun might occur, Total time : 1970.033 us (Expected < 1666.667 us) --> Read time : 1315.596 us, Update time : 102.324 us, Write time : 552.113 us + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428853995092[0m ×2 + 23.24sWARNros2_control_nodeOverrun might occur, Total time : 1970.033 us (Expected < 1666.667 us) --> Read time : 1315.596 us, Update time : 102.324 us, Write time : 552.113 us[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627586174618 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003627586174618[0m ×2 + 23.25sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 3:10.014 of wall time (813/58346). Consistently above 1% means the model timestep should be raised.[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321087436372 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321087436372[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517554207559 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517554207559[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227476569712 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227476569712[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442339671672 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442339671672[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171705906873 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004171705906873[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400294897582 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400294897582[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145606259699 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145606259699[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383358148568 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003383358148568[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134395478472 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004134395478472[0m ×2 + 23.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376604614958 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376604614958[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127949756260 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127949756260[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372704803988 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003372704803988[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122137415245 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122137415245[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184442579014 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184442579014[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406173414969 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003406173414969[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135188736901 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004135188736901[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373917952560 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373917952560[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112706919161 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004112706919161[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326468308722 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326468308722[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113086288617 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113086288617[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559472872338 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004559472872338[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642692274208 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642692274208[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244461576533 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244461576533[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429019178588 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003429019178588[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109014434745 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004109014434745[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345780032813 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345780032813[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060528725409 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004060528725409[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320172785585 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320172785585[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045444999118 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045444999118[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458412534115 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458412534115[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547800178673 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003547800178673[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257294318919 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004257294318919[0m ×2 + 23.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437728 ms (missed cycles : 2). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.437728 ms (missed cycles : 2).[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679257834215 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679257834215[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003255661192 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003003255661192[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986170563800 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986170563800[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540717249192 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540717249192[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851237243844 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851237243844[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994096915892 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994096915892[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814012198431 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814012198431[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837228093812 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837228093812[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420138268721 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004420138268721[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729814057511 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004729814057511[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872179459665 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004872179459665[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917208083688 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917208083688[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796902366838 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796902366838[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242108187529 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242108187529[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615948671247 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004615948671247[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386231639743 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003386231639743[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041698656688 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004041698656688[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429822298832 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429822298832[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648664255435 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648664255435[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756780782505 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756780782505[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864732032169 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864732032169[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755882593821 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003755882593821[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206485552892 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004206485552892[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462602034429 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004462602034429[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604111451162 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604111451162[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660987477166 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002660987477166[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681383892928 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681383892928[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929182471247 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929182471247[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992427017322 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992427017322[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966621604005 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966621604005[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901800777697 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004901800777697[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827201432765 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827201432765[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931735519773 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004931735519773[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750953641348 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750953641348[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124845274533 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004124845274533[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154923095860 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003154923095860[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839950579425 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839950579425[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242183573224 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242183573224[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447659144343 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447659144343[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181941879296 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005181941879296[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924330625104 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924330625104[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198747900791 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198747900791[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536074989718 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536074989718[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537987229952 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537987229952[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103362245339 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004103362245339[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405629530793 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004405629530793[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547851762863 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547851762863[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596476352142 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596476352142[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594506184775 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594506184775[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568690232636 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568690232636[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196171897889 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196171897889[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910345797697 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004910345797697[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708823608700 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708823608700[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572324321808 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572324321808[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483755994714 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004483755994714[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819594501712 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819594501712[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628979492728 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004628979492728[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506105056042 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004506105056042[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429460341310 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004429460341310[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609606749353 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609606749353[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490602344136 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490602344136[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109461425002 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109461425002[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499116349393 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002499116349393[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631254258466 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003631254258466[0m ×2 + 24.28sWARNcontroller_managerOverrun might occur, Total time : 5496.413 us (Expected < 1666.667 us) --> Read time : 377.206 us, Update time : 4540.913 us, Write time : 578.294 us + 24.28sWARNros2_control_nodeOverrun might occur, Total time : 5496.413 us (Expected < 1666.667 us) --> Read time : 377.206 us, Update time : 4540.913 us, Write time : 578.294 us[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005852429197150 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005852429197150[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292268131635 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292268131635[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671464529773 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002671464529773[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535335980995 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535335980995[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005808015596 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004005808015596[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096224185566 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005096224185566[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006627586304773 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006627586304773[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005721913695026 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005721913695026[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098180412878 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005098180412878[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681534756569 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004681534756569[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260477396481 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005260477396481[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764829970160 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764829970160[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004457984294198 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004457984294198[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002374509970905 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002374509970905[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005052114775226 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005052114775226[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006335681342914 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006335681342914[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515614111110 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005515614111110[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942723948005 + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004942723948005[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557333723311 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557333723311[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310126465337 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310126465337[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352656583297 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352656583297[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784491100804 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004784491100804[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421919449226 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004421919449226[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200434517081 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200434517081[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072659236397 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004072659236397[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004094693511 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004094693511[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005661602643801 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005661602643801[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892119562194 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004892119562194[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459202834583 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004459202834583[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236978745579 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236978745579[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123192218884 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123192218884[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153648407022 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153648407022[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004677534474077 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004677534474077[0m ×2 + 24.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828696 ms (missed cycles : 4). + 24.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828696 ms (missed cycles : 4).[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369314661611 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369314661611[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755063074964 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755063074964[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830793079753 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005830793079753[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078019422055 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005078019422055[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572305764176 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572305764176[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245376524664 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245376524664[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685331533469 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005685331533469[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835855109525 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004835855109525[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351097315784 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004351097315784[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005684981631707 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005684981631707[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800662930679 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800662930679[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318630862160 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005318630862160[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614479520127 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614479520127[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604484753388 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004604484753388[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005543258239868 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005543258239868[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005818875328549 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005818875328549[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027434523211 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005027434523211[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780590406191 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005780590406191[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897254559632 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004897254559632[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330076647735 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330076647735[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256894276278 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005256894276278[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534386855807 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004534386855807[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613518084402 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005613518084402[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004658273159980 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004658273159980[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119030492830 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004119030492830[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025446422087 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025446422087[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354917766221 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354917766221[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356304104008 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356304104008[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106230431327 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106230431327[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244621753027 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005244621753027[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925977899827 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925977899827[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888800427221 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004888800427221[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752266699727 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005752266699727[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764084944090 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004764084944090[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568378026664 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568378026664[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564033288313 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564033288313[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413596986239 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413596986239[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449568660672 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449568660672[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320078038683 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005320078038683[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377579348507 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004377579348507[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251761110076 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251761110076[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681255950740 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005681255950740[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490549440836 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004490549440836[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476152171161 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003476152171161[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665111320774 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003665111320774[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452796157362 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452796157362[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323349096486 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005323349096486[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005763034730268 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005763034730268[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005981539320064 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005981539320064[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004487145312716 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004487145312716[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877929676437 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877929676437[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618535027900 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618535027900[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200437827943 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200437827943[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534688033004 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534688033004[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689912649252 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689912649252[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743679595235 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743679595235[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735027770474 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735027770474[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696281292370 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005696281292370[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439332811731 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439332811731[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944396085443 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944396085443[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134330524656 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005134330524656[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321395149645 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005321395149645[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380546661627 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005380546661627[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584558217287 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005584558217287[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005545971037805 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005545971037805[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474670349544 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005474670349544[0m ×2 + 25.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005417505684376 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005417505684376[0m ×2 + 25.30sWARNcontroller_managerOverrun might occur, Total time : 2337.639 us (Expected < 1666.667 us) --> Read time : 297.423 us, Update time : 742.141 us, Write time : 1298.075 us + 25.30sWARNros2_control_nodeOverrun might occur, Total time : 2337.639 us (Expected < 1666.667 us) --> Read time : 297.423 us, Update time : 742.141 us, Write time : 1298.075 us[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357453643404 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005357453643404[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319175081627 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003319175081627[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891809559386 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003891809559386[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177337389172 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177337389172[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369097729318 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005369097729318[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315129513074 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315129513074[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289900486977 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289900486977[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205891035299 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205891035299[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005846679878116 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005846679878116[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548929022005 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005548929022005[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023613198080 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006023613198080[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069925482300 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005069925482300[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252860481043 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005252860481043[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960523109448 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004960523109448[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591442369817 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005591442369817[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005353657409833 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005353657409833[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073127991441 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005073127991441[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071651881345 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003071651881345[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151618652902 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005151618652902[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006441961421344 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006441961421344[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801620916523 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005801620916523[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084669417267 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006084669417267[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006784858322636 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006784858322636[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204982157515 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005204982157515[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142058547229 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005142058547229[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614640438937 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004614640438937[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673934585439 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673934585439[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159896359999 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005159896359999[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724915992119 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004724915992119[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498099279962 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498099279962[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477819204652 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477819204652[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992321586959 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992321586959[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596191292865 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596191292865[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069946926431 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006069946926431[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142164404584 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006142164404584[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114056444216 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114056444216[0m ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727512 ms (missed cycles : 2). + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772183198080 + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.727512 ms (missed cycles : 2).[0m ×2 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772183198080[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006009771986383 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006009771986383[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824040271816 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824040271816[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004783367047413 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004783367047413[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007774444976330 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007774444976330[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058534711620 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002058534711620[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437519672543 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005437519672543[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029427644933 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029427644933[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007287843982934 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007287843982934[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007591206111559 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007591206111559[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005440045023282 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005440045023282[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881873162172 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005881873162172[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994552218770 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994552218770[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791382851442 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005791382851442[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864060988856 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004864060988856[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631003709574 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005631003709574[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812610234704 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005812610234704[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832675361352 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832675361352[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845835101294 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004845835101294[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189373576920 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189373576920[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982485133510 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982485133510[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886478685539 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886478685539[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235284983737 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005235284983737[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213448600462 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213448600462[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006184367836479 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006184367836479[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228452770918 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228452770918[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539154464503 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539154464503[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805958416973 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005805958416973[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595817656722 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005595817656722[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005978833840299 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005978833840299[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987072014387 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005987072014387[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636003498032 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005636003498032[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416328365837 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416328365837[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340363763016 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340363763016[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950058883401 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950058883401[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006020652357897 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006020652357897[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742172030843 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742172030843[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503942065333 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005503942065333[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315607614742 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315607614742[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005912368684936 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005912368684936[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005557341074701 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005557341074701[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105535340551 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006105535340551[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188127118691 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005188127118691[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752418034071 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752418034071[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708261935281 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708261935281[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586845590314 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004586845590314[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006278965517235 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006278965517235[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389216830650 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005389216830650[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944398418532 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004944398418532[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627878109576 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004627878109576[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606434109749 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005606434109749[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996747690557 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004996747690557[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123316215941 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005123316215941[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006070012307936 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006070012307936[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951232564917 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004951232564917[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948025225544 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005948025225544[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087039115608 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087039115608[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005981356326520 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005981356326520[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064201561912 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005064201561912[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005999761642236 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005999761642236[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043715768289 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005043715768289[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877213637108 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005877213637108[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006396377112163 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006396377112163[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005240913583891 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005240913583891[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006165409603125 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006165409603125[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505558218703 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006505558218703[0m ×2 + 26.32sWARNcontroller_managerOverrun might occur, Total time : 3850.033 us (Expected < 1666.667 us) --> Read time : 188.038 us, Update time : 3065.900 us, Write time : 596.095 us + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246405062705 + 26.32sWARNros2_control_nodeOverrun might occur, Total time : 3850.033 us (Expected < 1666.667 us) --> Read time : 188.038 us, Update time : 3065.900 us, Write time : 596.095 us[0m ×2 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005246405062705[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397498590855 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003397498590855[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880392686276 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880392686276[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809104798500 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005809104798500[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007483428858415 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007483428858415[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007381831397550 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007381831397550[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007202253559653 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007202253559653[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006996166510684 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006996166510684[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006793332066053 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006793332066053[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008428547970295 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008428547970295[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713551925593 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713551925593[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115753016168 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007115753016168[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007983611313881 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007983611313881[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207716713502 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007207716713502[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006655119022824 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006655119022824[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746141579983 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008746141579983[0m ×2 + 26.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144721 ms (missed cycles : 2). + 26.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144721 ms (missed cycles : 2).[0m ×2 + 27.40sWARNcontroller_managerOverrun might occur, Total time : 3815.972 us (Expected < 1666.667 us) --> Read time : 234.800 us, Update time : 3016.788 us, Write time : 564.384 us + 27.40sWARNros2_control_nodeOverrun might occur, Total time : 3815.972 us (Expected < 1666.667 us) --> Read time : 234.800 us, Update time : 3016.788 us, Write time : 564.384 us[0m ×2 + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563666 ms (missed cycles : 2).[0m ×2 + 28.57sWARNcontroller_managerOverrun might occur, Total time : 2167.982 us (Expected < 1666.667 us) --> Read time : 152.057 us, Update time : 1586.597 us, Write time : 429.328 us + 28.58sWARNros2_control_nodeOverrun might occur, Total time : 2167.982 us (Expected < 1666.667 us) --> Read time : 152.057 us, Update time : 1586.597 us, Write time : 429.328 us[0m ×2 + 28.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001453420279 + 28.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001453420279[0m ×2 + 28.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860225 ms (missed cycles : 2). + 28.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860225 ms (missed cycles : 2).[0m ×2 + 28.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859248614172 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859248614172[0m ×2 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440554798674 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440554798674[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083746017816 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083746017816[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002115198536 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002115198536[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041495251489 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041495251489[0m ×2 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006821844783666 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006821844783666[0m ×2 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093198390994 + 28.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093198390994[0m ×2 + 28.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321311491216 + 28.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001321311491216[0m ×2 + 28.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490418971099 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001490418971099[0m ×2 + 28.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023898134461454 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023898134461454[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014167919474503 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014167919474503[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467150589699 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007467150589699[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192906603309 ×2 + 28.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192906603309[0m ×4 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000766253250646 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000766253250646[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001038195530833 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001038195530833[0m ×2 + 28.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347252580702 + 28.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347252580702[0m ×2 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000764427228136 + 28.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000764427228136[0m ×2 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000690675501087 ×2 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000690675501087[0m ×4 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000740747793104 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000740747793104[0m ×2 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000684009959015 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000684009959015[0m ×2 + 28.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000579157622645 + 28.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000579157622645[0m ×2 + 28.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347210884513 + 28.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347210884513[0m ×2 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250250199523 + 28.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250250199523[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172125926588 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172125926588[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032389918457 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032389918457[0m ×2 + 28.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914726667583 + 28.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914726667583[0m ×2 + 29.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001042808126464 + 29.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001042808126464[0m ×2 + 29.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000766057175934 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000766057175934[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306214624092 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000306214624092[0m ×2 + 29.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034206115750 + 29.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034206115750[0m ×2 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111916601788 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111916601788[0m ×2 + 29.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175522986314 + 29.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000175522986314[0m ×2 + 29.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189948191342 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189948191342[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176886226801 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176886226801[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043191354427 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043191354427[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010551400416 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010551400416[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012856873977 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012856873977[0m ×2 + 29.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194237098277 + 29.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000194237098277[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106101776644 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106101776644[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000168535843539 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000168535843539[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079734156152 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079734156152[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079798963347 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079798963347[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000829256119082 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000829256119082[0m ×2 + 29.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019391422750230 + 29.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019391422750230[0m ×2 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006349662722814 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006349662722814[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031157568684253 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031157568684253[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017934411463912 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017934411463912[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034842127810005 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034842127810005[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018971585042882 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018971585042882[0m ×2 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019020033434641 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019020033434641[0m ×2 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010655772961370 + 29.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010655772961370[0m ×2 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383352863583 + 29.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383352863583[0m ×2 + 29.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171448295745 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006171448295745[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112611239434 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003112611239434[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037730783084523 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.037730783084523[0m ×2 + 29.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029951345267199 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029951345267199[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019915433872619 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019915433872619[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016858297973991 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016858297973991[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017050017357936 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017050017357936[0m ×2 + 29.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021491221845850 + 29.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021491221845850[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025566444643175 + 29.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025566444643175[0m ×2 + 29.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023025360885592 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023025360885592[0m ×2 + 29.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016161487015017 + 29.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016161487015017[0m ×2 + 29.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018669484825770 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018669484825770[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016700780823515 + 29.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016700780823515[0m ×2 + 29.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023646919806351 + 29.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023646919806351[0m ×2 + 29.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023036012175350 + 29.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023036012175350[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016605424238451 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016605424238451[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016139125638126 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016139125638126[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014860676233860 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014860676233860[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013243844688614 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013243844688614[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016935463910307 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016935463910307[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018529731892718 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018529731892718[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013663400857484 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013663400857484[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013986535729934 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013986535729934[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013654481292835 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013654481292835[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019069028141104 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019069028141104[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017532402799268 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017532402799268[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014260565737586 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014260565737586[0m ×2 + 29.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010607274304469 + 29.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010607274304469[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010232827123632 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010232827123632[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007731862751565 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007731862751565[0m ×2 + 29.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009418155396344 + 29.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009418155396344[0m ×2 + 29.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769142921725 + 29.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001769142921725[0m ×2 + 29.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000643315033596 + 29.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000643315033596[0m ×2 + 29.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237791952763 + 29.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237791952763[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000271600385535 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000271600385535[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060255529910 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002060255529910[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098363752535 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098363752535[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071089677825 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002071089677825[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129043670489 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002129043670489[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225118507052 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002225118507052[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685461832540 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002685461832540[0m ×2 + 29.70sWARNcontroller_managerOverrun might occur, Total time : 9668.372 us (Expected < 1666.667 us) --> Read time : 281.192 us, Update time : 8425.399 us, Write time : 961.781 us + 29.70sWARNros2_control_nodeOverrun might occur, Total time : 9668.372 us (Expected < 1666.667 us) --> Read time : 281.192 us, Update time : 8425.399 us, Write time : 961.781 us[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596208864215 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002596208864215[0m ×2 + 29.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036599862304 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003036599862304[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888873317456 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888873317456[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783604800373 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783604800373[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247428620203 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003247428620203[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978903078394 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002978903078394[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799361538195 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002799361538195[0m ×2 + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759519 ms (missed cycles : 6). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.759519 ms (missed cycles : 6).[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686899970865 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002686899970865[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193563067065 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001193563067065[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494435018641 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001494435018641[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236370110286 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236370110286[0m ×2 + 29.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116573524818 + 29.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003116573524818[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521030575903 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521030575903[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860939607994 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003860939607994[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367498983311 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367498983311[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020891202220 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020891202220[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793882560724 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002793882560724[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629949730991 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003629949730991[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143266582136 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143266582136[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833107279910 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002833107279910[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651603342568 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651603342568[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106099767762 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106099767762[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002821176780010 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002821176780010[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654773444308 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002654773444308[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568935623903 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568935623903[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025313290010 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025313290010[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797080617737 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797080617737[0m ×2 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002637264017545 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002637264017545[0m ×2 + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082678874682 + 29.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082678874682[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532966295354 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003532966295354[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143331720110 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003143331720110[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667529401305 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002667529401305[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218001007780 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218001007780[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369978903314 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369978903314[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681864248282 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003681864248282[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203713202837 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203713202837[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644108524273 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003644108524273[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148430279595 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003148430279595[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834447214331 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002834447214331[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651905077234 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651905077234[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558410376685 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002558410376685[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381216318072 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003381216318072[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997949949731 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002997949949731[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761108357098 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761108357098[0m ×2 + 30.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037733186703 + 30.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037733186703[0m ×2 + 30.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199495828310 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003199495828310[0m ×2 + 30.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976191106524 + 30.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002976191106524[0m ×2 + 30.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121615492090 + 30.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121615492090[0m ×2 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466541177501 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466541177501[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035083625061 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035083625061[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769490598981 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769490598981[0m ×2 + 30.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620369932720 + 30.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620369932720[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430861004728 + 30.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003430861004728[0m ×2 + 30.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018301670003 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003018301670003[0m ×2 + 30.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764641260915 + 30.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002764641260915[0m ×2 + 30.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622127651237 + 30.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002622127651237[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002778497935 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002778497935[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129615074915 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129615074915[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475120796184 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003475120796184[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707166762189 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707166762189[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003180379848001 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003180379848001[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849455821996 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849455821996[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657940876579 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657940876579[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458546690970 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003458546690970[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214106490942 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003214106490942[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915729221179 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002915729221179[0m ×2 + 30.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010092931850 + 30.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010092931850[0m ×2 + 30.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362100579236 + 30.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362100579236[0m ×2 + 30.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949936963891 + 30.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002949936963891[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032712853630 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003032712853630[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084223717396 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004084223717396[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421180144419 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003421180144419[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994389078594 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002994389078594[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777561447608 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003777561447608[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003195629805573 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003195629805573[0m ×2 + 30.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083746775250 + 30.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003083746775250[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082427172312 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082427172312[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402280570486 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003402280570486[0m ×2 + 30.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969936670622 + 30.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002969936670622[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713902922765 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713902922765[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837970465555 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003837970465555[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236638737143 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236638737143[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002864251389625 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002864251389625[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639555796924 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003639555796924[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104323328408 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003104323328408[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780475226374 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780475226374[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856794843321 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003856794843321[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232547816061 + 30.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003232547816061[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647042147345 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647042147345[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631665204454 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631665204454[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873671937109 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003873671937109[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550647620971 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550647620971[0m ×2 + 30.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691725791535 + 30.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003691725791535[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131564177610 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003131564177610[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008851481013 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008851481013[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303453946643 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303453946643[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870327889143 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002870327889143[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851195013488 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003851195013488[0m ×2 + 30.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208946148775 + 30.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208946148775[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820151774285 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820151774285[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576878368746 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003576878368746[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047653057210 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003047653057210[0m ×2 + 30.75sWARNcontroller_managerOverrun might occur, Total time : 2181.782 us (Expected < 1666.667 us) --> Read time : 1009.082 us, Update time : 216.770 us, Write time : 955.930 us + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955713104848 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955713104848[0m ×2 + 30.75sWARNros2_control_nodeOverrun might occur, Total time : 2181.782 us (Expected < 1666.667 us) --> Read time : 1009.082 us, Update time : 216.770 us, Write time : 955.930 us[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264808872326 + 30.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623241 ms (missed cycles : 3). + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003264808872326[0m ×2 + 30.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623241 ms (missed cycles : 3).[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046502087431 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003046502087431[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061058618317 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003061058618317[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119116216993 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003119116216993[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082449507113 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004082449507113[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810835533384 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810835533384[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871284052210 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003871284052210[0m ×2 + 30.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644608579992 + 30.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644608579992[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804228692879 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804228692879[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447842063124 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447842063124[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004774017304486 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004774017304486[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764452417672 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764452417672[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279276207371 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004279276207371[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412268828735 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412268828735[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052467788029 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004052467788029[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267013381528 + 30.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267013381528[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972395808669 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003972395808669[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223523455221 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003223523455221[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953775806948 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953775806948[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217924194796 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217924194796[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938684361945 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938684361945[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206981509874 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206981509874[0m ×2 + 31.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947819548005 + 31.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947819548005[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212974393676 + 31.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003212974393676[0m ×2 + 31.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944108011527 + 31.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003944108011527[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056017663119 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004056017663119[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361188895551 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002361188895551[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754696056175 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754696056175[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899317113323 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899317113323[0m ×2 + 31.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492827349055 + 31.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004492827349055[0m ×2 + 31.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771559189268 + 31.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004771559189268[0m ×2 + 31.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871747803608 + 31.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871747803608[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773651027832 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773651027832[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468290300982 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004468290300982[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003494300020387 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003494300020387[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026736527832 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026736527832[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135506553177 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135506553177[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865819321380 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003865819321380[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554170235006 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004554170235006[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599473646997 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003599473646997[0m ×2 + 31.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127135988326 + 31.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127135988326[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414111891070 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414111891070[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267604549706 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267604549706[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956539336456 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002956539336456[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941071509494 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002941071509494[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624913125018 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003624913125018[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229894591079 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004229894591079[0m ×2 + 31.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539240221615 + 31.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004539240221615[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673726838350 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004673726838350[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709330096669 + 31.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709330096669[0m ×2 + 31.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623622139227 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003623622139227[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295487610392 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004295487610392[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355349197459 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003355349197459[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890620783590 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890620783590[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200522012941 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004200522012941[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302371927618 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003302371927618[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973187290716 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973187290716[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251642142627 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004251642142627[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325254667738 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003325254667738[0m ×2 + 31.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867645776817 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867645776817[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179739130120 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179739130120[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354807057828 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354807057828[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526619704228 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002526619704228[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514842911138 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514842911138[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718657438947 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718657438947[0m ×2 + 31.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778324599104 + 31.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004778324599104[0m ×2 + 31.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393752927582 + 31.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003393752927582[0m ×2 + 31.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433674766792 + 31.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002433674766792[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483540942378 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003483540942378[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066261193089 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066261193089[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367625062492 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367625062492[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500404543429 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004500404543429[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537148762081 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004537148762081[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164826135985 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164826135985[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899546916618 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899546916618[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696157241595 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696157241595[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548756686406 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548756686406[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447301581748 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004447301581748[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476177220053 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004476177220053[0m ×2 + 31.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427193771976 + 31.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002427193771976[0m ×2 + 31.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666911322503 + 31.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002666911322503[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556622797145 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003556622797145[0m ×2 + 31.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049147351222 + 31.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049147351222[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300944465871 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004300944465871[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408431028681 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408431028681[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538062785424 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005538062785424[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110483358669 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110483358669[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791551425224 + 31.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004791551425224[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565471167716 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565471167716[0m ×2 + 31.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004413224557819 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004413224557819[0m ×2 + 31.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004740327235933 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004740327235933[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057377916677 + 31.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005057377916677[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633377591817 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633377591817[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432811335495 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004432811335495[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321469772788 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321469772788[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254485571584 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004254485571584[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576456275483 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004576456275483[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404668615938 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004404668615938[0m ×2 + 31.79sWARNcontroller_managerOverrun might occur, Total time : 2235.455 us (Expected < 1666.667 us) --> Read time : 221.499 us, Update time : 1554.146 us, Write time : 459.810 us + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636002 ms (missed cycles : 2). + 31.80sWARNros2_control_nodeOverrun might occur, Total time : 2235.455 us (Expected < 1666.667 us) --> Read time : 221.499 us, Update time : 1554.146 us, Write time : 459.810 us[0m ×2 + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.636002 ms (missed cycles : 2).[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292804132803 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292804132803[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895765469722 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895765469722[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501553777744 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004501553777744[0m ×2 + 31.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332831994348 + 31.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332831994348[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242002097174 + 31.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242002097174[0m ×2 + 31.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823148442677 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823148442677[0m ×2 + 31.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025155492561 + 31.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005025155492561[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565721496342 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565721496342[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365841339143 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004365841339143[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260444007125 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004260444007125[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195238782306 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004195238782306[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773565865035 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773565865035[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495591819528 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495591819528[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891006862835 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891006862835[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180672624211 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005180672624211[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906048203455 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906048203455[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527827349582 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527827349582[0m ×2 + 31.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316572448819 + 31.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004316572448819[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184353905861 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184353905861[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098845036618 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004098845036618[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043631482880 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043631482880[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008190446183 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004008190446183[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036639362524 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005036639362524[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598960624436 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004598960624436[0m ×2 + 32.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310426393165 + 32.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004310426393165[0m ×2 + 32.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683539601062 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004683539601062[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617406420177 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004617406420177[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911794385793 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005911794385793[0m ×2 + 32.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099838551954 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099838551954[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577067226212 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004577067226212[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242425165182 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242425165182[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035654548163 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035654548163[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914679203745 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003914679203745[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481636274230 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005481636274230[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718085897618 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718085897618[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281843901001 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004281843901001[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807673083614 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807673083614[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339464439968 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339464439968[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051175748973 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004051175748973[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005482416135991 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005482416135991[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751711983268 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751711983268[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908089172325 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003908089172325[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169975152275 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005169975152275[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006179774661364 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006179774661364[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149357255691 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149357255691[0m ×2 + 32.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649909033158 + 32.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649909033158[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804807452812 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804807452812[0m ×2 + 32.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544117858187 + 32.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544117858187[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265122435214 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265122435214[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404698757553 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404698757553[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646171913684 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646171913684[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005661145156069 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005661145156069[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914315853361 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005914315853361[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875017447551 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004875017447551[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244682518105 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244682518105[0m ×2 + 32.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349486704603 + 32.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005349486704603[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467902270911 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004467902270911[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430347209930 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430347209930[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504460476765 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504460476765[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425394677234 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005425394677234[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480019984708 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480019984708[0m ×2 + 32.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381283002641 + 32.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381283002641[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436295969723 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004436295969723[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328434859804 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005328434859804[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366004974630 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005366004974630[0m ×2 + 32.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414625463480 + 32.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004414625463480[0m ×2 + 32.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289468844067 + 32.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289468844067[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366016541246 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004366016541246[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286822485217 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005286822485217[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743229174396 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003743229174396[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489424602918 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489424602918[0m ×2 + 32.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005240506618460 + 32.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005240506618460[0m ×2 + 32.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005820731642866 + 32.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005820731642866[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037739914766 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006037739914766[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833485048790 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004833485048790[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005436336069699 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005436336069699[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005854424878310 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005854424878310[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650381323378 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650381323378[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093568599280 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093568599280[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751268961918 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751268961918[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381937693775 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005381937693775[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620944909185 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005620944909185[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844149415005 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844149415005[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657008040188 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004657008040188[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226437380630 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005226437380630[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426103420834 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005426103420834[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219243189907 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004219243189907[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732355249693 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732355249693[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045603293589 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045603293589[0m ×2 + 32.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612467700636 + 32.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612467700636[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158284996374 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005158284996374[0m ×2 + 32.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352471679307 + 32.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005352471679307[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066127599724 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006066127599724[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935053907448 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005935053907448[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751779398381 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751779398381[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452119434155 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452119434155[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880057259431 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004880057259431[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026460557625 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005026460557625[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715673256382 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715673256382[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444356962375 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004444356962375[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871899698747 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871899698747[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004974150992515 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004974150992515[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649337937374 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649337937374[0m ×2 + 32.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536778241360 + 32.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536778241360[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370177686413 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005370177686413[0m ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840974 ms (missed cycles : 3). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.840974 ms (missed cycles : 3).[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275517445855 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005275517445855[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221011753722 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003221011753722[0m ×2 + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770668903910 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770668903910[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495724432639 + 32.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495724432639[0m ×2 + 32.93sWARNcontroller_managerOverrun might occur, Total time : 1913.231 us (Expected < 1666.667 us) --> Read time : 311.813 us, Update time : 1177.390 us, Write time : 424.028 us + 32.94sWARNros2_control_nodeOverrun might occur, Total time : 1913.231 us (Expected < 1666.667 us) --> Read time : 311.813 us, Update time : 1177.390 us, Write time : 424.028 us[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006639324877302 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006639324877302[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992415729468 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992415729468[0m ×2 + 32.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560331486867 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003560331486867[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335485760935 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335485760935[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375522335384 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375522335384[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863722884987 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863722884987[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429751700051 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429751700051[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006538247677929 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006538247677929[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005828349714541 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005828349714541[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292448540166 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005292448540166[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956182782978 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004956182782978[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738972540048 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004738972540048[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806843708657 + 33.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806843708657[0m ×2 + 33.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422825698638 + 33.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422825698638[0m ×2 + 33.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335974040197 + 33.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003335974040197[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009118049303299 + 33.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009118049303299[0m ×2 + 33.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565085924112 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005565085924112[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785673937701 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003785673937701[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626139076904 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626139076904[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429967611905 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005429967611905[0m ×2 + 33.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004957093917790 + 33.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004957093917790[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648347328860 + 33.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004648347328860[0m ×2 + 33.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113923086412 + 33.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006113923086412[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154094051428 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006154094051428[0m ×2 + 33.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185105703535 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005185105703535[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561628348112 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561628348112[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013138230988 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013138230988[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100101736285 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006100101736285[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463378755164 + 33.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463378755164[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006561230480403 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006561230480403[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006686393475502 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006686393475502[0m ×2 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004834239006347 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004834239006347[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004763753703022 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004763753703022[0m ×2 + 33.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519205156636 + 33.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004519205156636[0m ×2 + 33.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309163992939 + 33.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309163992939[0m ×2 + 33.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006693845662101 + 33.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006693845662101[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822125173135 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004822125173135[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006440495467945 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006440495467945[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407994967917 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407994967917[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295423936008 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295423936008[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102190265180 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102190265180[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006214925833529 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006214925833529[0m ×2 + 33.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916293216615 + 33.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003916293216615[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043371045994 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043371045994[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156846467645 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006156846467645[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677239846170 + 33.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677239846170[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362969609455 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362969609455[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281517810543 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002281517810543[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521362341333 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007521362341333[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007710200372267 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007710200372267[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828688633281 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828688633281[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005774001977285 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005774001977285[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309365943954 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309365943954[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007674173770431 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007674173770431[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670458655676 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004670458655676[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130103362966 + 33.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005130103362966[0m ×2 + 33.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428037094421 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004428037094421[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713844341021 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004713844341021[0m ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113845 ms (missed cycles : 3). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113845 ms (missed cycles : 3).[0m ×2 + 34.01sWARNcontroller_managerOverrun might occur, Total time : 4647.958 us (Expected < 1666.667 us) --> Read time : 323.744 us, Update time : 88.224 us, Write time : 4235.990 us + 34.02sWARNros2_control_nodeOverrun might occur, Total time : 4647.958 us (Expected < 1666.667 us) --> Read time : 323.744 us, Update time : 88.224 us, Write time : 4235.990 us[0m ×2 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391768 ms (missed cycles : 3). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.391768 ms (missed cycles : 3).[0m ×2 + 35.02sWARNcontroller_managerOverrun might occur, Total time : 1985.454 us (Expected < 1666.667 us) --> Read time : 830.065 us, Update time : 82.474 us, Write time : 1072.915 us + 35.02sWARNros2_control_nodeOverrun might occur, Total time : 1985.454 us (Expected < 1666.667 us) --> Read time : 830.065 us, Update time : 82.474 us, Write time : 1072.915 us[0m ×2 + 35.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551953955942 + 35.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000551953955942[0m ×2 + 35.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861519996878 + 35.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861519996878[0m ×2 + 35.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982385 ms (missed cycles : 5). + 35.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.982385 ms (missed cycles : 5).[0m ×2 + 35.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480687129660 + 35.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480687129660[0m ×2 + 35.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.084347746100015 + 35.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.084347746100015[0m ×2 + 35.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.497150476487597 + 35.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.497150476487597[0m ×2 + 35.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.794491859221200 + 35.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.794491859221200[0m ×2 + 35.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.936983141601488 + 35.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.936983141601488[0m ×2 + 35.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.952812257132678 + 35.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.952812257132678[0m ×2 + 35.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.304390285783015 ×2 + 35.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.304390285783015[0m ×4 + 35.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.583047342874035 + 35.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.583047342874035[0m ×2 + 36.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.025364093850772 + 36.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.025364093850772[0m ×2 + 36.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.280919256071067 + 36.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.280919256071067[0m ×2 + 36.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.065687920633755 + 36.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.065687920633755[0m ×2 + 36.02sWARNcontroller_managerOverrun might occur, Total time : 4026.021 us (Expected < 1666.667 us) --> Read time : 228.080 us, Update time : 115.285 us, Write time : 3682.656 us + 36.02sWARNros2_control_nodeOverrun might occur, Total time : 4026.021 us (Expected < 1666.667 us) --> Read time : 228.080 us, Update time : 115.285 us, Write time : 3682.656 us[0m ×2 + 36.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.985875746575374 + 36.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.985875746575374[0m ×2 + 36.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.149501910301485 + 36.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.149501910301485[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.124367387434027 + 36.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.124367387434027[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.980595513312432 ×2 + 36.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.980595513312432[0m ×4 + 36.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.952679154813648 + 36.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.952679154813648[0m ×2 + 36.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.384054339516036 ×2 + 36.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.384054339516036[0m ×4 + 36.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.204062656440836 + 36.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.204062656440836[0m ×2 + 36.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.153724386261608 + 36.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.153724386261608[0m ×2 + 36.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.609036270524665 + 36.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.609036270524665[0m ×2 + 36.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.602820194534925 + 36.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.602820194534925[0m ×2 + 36.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.342449753232753 ×2 + 36.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.342449753232753[0m ×4 + 36.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.183414751523749 + 36.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.183414751523749[0m ×2 + 36.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.548023608697797 + 36.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.548023608697797[0m ×2 + 36.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.400463781993132 + 36.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.400463781993132[0m ×2 + 36.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.363730381547114 ×2 + 36.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.363730381547114[0m ×4 + 36.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.210957529528855 + 36.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.210957529528855[0m ×2 + 36.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.537722556153137 + 36.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.537722556153137[0m ×2 + 36.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.755889776980410 + 36.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.755889776980410[0m ×2 + 36.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.304009909772939 + 36.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.304009909772939[0m ×2 + 36.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.133533337583163 + 36.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.133533337583163[0m ×2 + 36.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.786052523455931 + 36.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.786052523455931[0m ×2 + 36.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.692231329873137 + 36.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.692231329873137[0m ×2 + 36.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.240022794516993 ×2 + 36.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.240022794516993[0m ×4 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.932218463846892 + 36.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.932218463846892[0m ×2 + 36.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.771977294908094 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.771977294908094[0m ×2 + 36.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.785643259254973 + 36.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.785643259254973[0m ×2 + 36.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.980247809839454 + 36.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.980247809839454[0m ×2 + 36.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.334291969645870 + 36.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.334291969645870[0m ×2 + 36.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.849300265435344 + 36.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.849300265435344[0m ×2 + 36.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.718210011472941 + 36.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.718210011472941[0m ×2 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.227161617768552 + 36.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.227161617768552[0m ×2 + 36.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.916616059664300 + 36.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.916616059664300[0m ×2 + 36.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.546467412420686 + 36.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.546467412420686[0m ×2 + 36.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.123656872225361 + 36.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.123656872225361[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.470631940730254 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.470631940730254[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.283871455807006 + 36.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.283871455807006[0m ×2 + 36.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.283871455807009 + 36.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.283871455807009[0m ×2 + 36.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.748308251094219 + 36.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.748308251094219[0m ×2 + 36.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.398348829477165 + 36.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.398348829477165[0m ×2 + 36.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.986223908553281 ×2 + 36.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.986223908553281[0m ×4 + 36.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.230662931901527 + 36.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.230662931901527[0m ×2 + 36.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.510614642103597 + 36.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.510614642103597[0m ×2 + 36.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.661497312387166 ×2 + 36.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.661497312387166[0m ×4 + 36.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.343715895706016 + 36.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.343715895706016[0m ×2 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.822766877323581 + 36.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.822766877323581[0m ×2 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.741286240560704 ×2 + 36.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.741286240560704[0m ×4 + 36.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.348931746756094 + 36.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.348931746756094[0m ×2 + 36.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.060788517725264 + 36.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.060788517725264[0m ×2 + 36.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.236774229246542 + 36.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.236774229246542[0m ×2 + 36.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.351092544136606 + 36.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.351092544136606[0m ×2 + 36.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.419920768199486 + 36.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.419920768199486[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.742743929819657 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.742743929819657[0m ×2 + 36.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.696092244963872 + 36.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.696092244963872[0m ×2 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.967903261061302 + 36.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.967903261061302[0m ×2 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.970662367289517 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.970662367289517[0m ×2 + 36.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.430910667587966 + 36.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.430910667587966[0m ×2 + 36.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.851840338491151 + 36.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.851840338491151[0m ×2 + 36.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.286444960425882 + 36.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.286444960425882[0m ×2 + 36.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.706270399769053 + 36.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.706270399769053[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 39.148459761753045 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 39.148459761753045[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.701542767264250 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.701542767264250[0m ×2 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.264830341494608 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.264830341494608[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.264830341494601 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.264830341494601[0m ×2 + 36.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.843647994264984 + 36.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.843647994264984[0m ×2 + 36.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.406865418251890 + 36.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.406865418251890[0m ×2 + 36.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.729481717748463 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.729481717748463[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.838636722047549 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.838636722047549[0m ×2 + 36.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.266228594773832 + 36.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.266228594773832[0m ×2 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.802303721975671 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.802303721975671[0m ×2 + 36.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.120587420282561 + 36.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.120587420282561[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.557105849144172 + 36.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.557105849144172[0m ×2 + 36.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.958051751718463 + 36.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.958051751718463[0m ×2 + 36.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.958051751718454 + 36.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.958051751718454[0m ×2 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.404182313338989 + 36.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.404182313338989[0m ×2 + 36.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.847876959137148 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.847876959137148[0m ×2 + 36.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.727184682499912 + 36.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.727184682499912[0m ×2 + 36.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.156294038320659 + 36.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.156294038320659[0m ×2 + 36.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.583891645127071 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.583891645127071[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.583891645127068 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.583891645127068[0m ×2 + 36.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.016239313815198 + 36.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.016239313815198[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.469130017137193 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.469130017137193[0m ×2 + 36.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440381 ms (missed cycles : 3). + 36.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440381 ms (missed cycles : 3).[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.903747231983719 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.903747231983719[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.192701735427889 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.192701735427889[0m ×2 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.624753675007629 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.624753675007629[0m ×2 + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.484938745931668 + 37.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.484938745931668[0m ×2 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.913209335169583 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.913209335169583[0m ×2 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.345694734449872 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.345694734449872[0m ×2 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.345694734449879 + 37.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.345694734449879[0m ×2 + 37.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.773516950559902 + 37.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.773516950559902[0m ×2 + 37.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.324239241283955 + 37.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.324239241283955[0m ×2 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.901406704625067 + 37.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.901406704625067[0m ×2 + 37.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.470381729635090 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.470381729635090[0m ×2 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.470381729635083 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.470381729635083[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.047595715857984 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.047595715857984[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.614491046963749 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.614491046963749[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.337067845960043 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.337067845960043[0m ×2 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.181703505321394 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.181703505321394[0m ×2 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.759599673326257 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.759599673326257[0m ×2 + 37.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.759599673326253 + 37.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.759599673326253[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.456479307287637 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.456479307287637[0m ×2 + 37.15sWARNcontroller_managerOverrun might occur, Total time : 1773.806 us (Expected < 1666.667 us) --> Read time : 275.402 us, Update time : 547.803 us, Write time : 950.601 us + 37.15sWARNros2_control_nodeOverrun might occur, Total time : 1773.806 us (Expected < 1666.667 us) --> Read time : 275.402 us, Update time : 547.803 us, Write time : 950.601 us[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.722416049194991 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.722416049194991[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.133069566477365 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.133069566477365[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.870374763798861 ×2 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.870374763798861[0m ×4 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.676006812620770 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.676006812620770[0m ×2 + 37.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.022948776551743 + 37.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.022948776551743[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.220785799255758 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.220785799255758[0m ×2 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.471007979375404 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.471007979375404[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.928871194276450 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.928871194276450[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.711787210362353 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.711787210362353[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.387264354445147 ×2 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.387264354445147[0m ×4 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.818546385180877 + 37.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.818546385180877[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.250121776198689 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.250121776198689[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.683106752150969 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.683106752150969[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.113802395583978 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.113802395583978[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.057010676666664 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.057010676666664[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.720192780140849 + 37.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.720192780140849[0m ×2 + 37.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.134272352293314 + 37.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.134272352293314[0m ×2 + 37.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.721510779285655 + 37.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.721510779285655[0m ×2 + 37.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.291922844070688 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.291922844070688[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.862884416066182 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.862884416066182[0m ×2 + 37.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.429511930163931 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.429511930163931[0m ×2 + 37.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.999228171452492 + 37.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.999228171452492[0m ×2 + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.567796927828691 + 37.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.567796927828691[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.302766590733165 + 37.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.302766590733165[0m ×2 + 37.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.180331572827441 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.180331572827441[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.610509122221214 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.610509122221214[0m ×2 + 37.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.048183710629955 + 37.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.048183710629955[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.048183710629957 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.048183710629957[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.487452735385683 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.487452735385683[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.908362903476998 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.908362903476998[0m ×2 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.343699181332351 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.343699181332351[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.196516210615483 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.196516210615483[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.617960767144886 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.617960767144886[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.044386704492826 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.044386704492826[0m ×2 + 37.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.472728688204263 + 37.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.472728688204263[0m ×2 + 37.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.319207069289469 + 37.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.319207069289469[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.757051520852905 + 37.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.757051520852905[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.180512520108064 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.180512520108064[0m ×2 + 37.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.560985799254812 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.560985799254812[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.110682918247470 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.110682918247470[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.441895274769603 + 37.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.441895274769603[0m ×2 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.918110829883034 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.918110829883034[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.999401689833320 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.999401689833320[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.606017664946769 + 37.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.606017664946769[0m ×2 + 37.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756315 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756315[0m ×2 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756323 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756323[0m ×2 + 37.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.524863907277567 + 37.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.524863907277567[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.610140543825114 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.610140543825114[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.581582803068063 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.581582803068063[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.493191604416340 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.493191604416340[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.386930693467828 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.386930693467828[0m ×2 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.338615847578485 + 37.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.338615847578485[0m ×2 + 37.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245632780734253 + 37.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245632780734253[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.157223671909776 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.157223671909776[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.559287218862849 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.559287218862849[0m ×2 + 37.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.991690184645510 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.991690184645510[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.402640559784953 + 37.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.402640559784953[0m ×2 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.862357038550641 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.862357038550641[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.277663864433162 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.277663864433162[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.736187277926053 + 37.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.736187277926053[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.139373166613634 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.139373166613634[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.572013981596974 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.572013981596974[0m ×2 + 37.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.982562090313085 + 37.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.982562090313085[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.440962932959120 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.440962932959120[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865427 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865427[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865423 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865423[0m ×2 + 37.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.316077025890749 + 37.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.316077025890749[0m ×2 + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007582 ms (missed cycles : 5). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007582 ms (missed cycles : 5).[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.718564768286043 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.718564768286043[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.561497574295672 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.561497574295672[0m ×2 + 38.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.554462583860300 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.554462583860300[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.699792894626732 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.699792894626732[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.291713064714330 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.291713064714330[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.835666577061019 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.835666577061019[0m ×2 + 38.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.243156113968876 + 38.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.243156113968876[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.785761626855846 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.785761626855846[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.627577958201187 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.627577958201187[0m ×2 + 38.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.326882404095672 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.326882404095672[0m ×2 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.775426489054141 + 38.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.775426489054141[0m ×2 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.240434251242901 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.240434251242901[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.241507659161165 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.241507659161165[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.670332344186196 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.670332344186196[0m ×2 + 38.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.073456364418753 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.073456364418753[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.513896215685165 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.513896215685165[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.379404689597244 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.379404689597244[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.817069927192382 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.817069927192382[0m ×2 + 38.17sWARNcontroller_managerOverrun might occur, Total time : 1986.094 us (Expected < 1666.667 us) --> Read time : 243.900 us, Update time : 1139.068 us, Write time : 603.126 us + 38.17sWARNros2_control_nodeOverrun might occur, Total time : 1986.094 us (Expected < 1666.667 us) --> Read time : 243.900 us, Update time : 1139.068 us, Write time : 603.126 us[0m ×2 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.234229425004486 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.234229425004486[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.683624179614327 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.683624179614327[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107039246628638 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107039246628638[0m ×2 + 38.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107112156693876 + 38.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107112156693876[0m ×2 + 38.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.546053200857131 + 38.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.546053200857131[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.980830561612851 + 38.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.980830561612851[0m ×2 + 38.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.390620339108160 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.390620339108160[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.687886050512461 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.687886050512461[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.964114818652433 + 38.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.964114818652433[0m ×2 + 38.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.554928387239947 + 38.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.554928387239947[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.128969066366786 + 38.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.128969066366786[0m ×2 + 38.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.960287847195207 + 38.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.960287847195207[0m ×2 + 38.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551164 + 38.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551164[0m ×2 + 38.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551172 + 38.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551172[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.894058788553291 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.894058788553291[0m ×2 + 38.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.617166828437492 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.617166828437492[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.028172132162729 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.028172132162729[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.724621331641104 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.724621331641104[0m ×2 + 38.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.198698857688041 + 38.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.198698857688041[0m ×2 + 38.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888104091883400 + 38.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888104091883400[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.544240212290055 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.544240212290055[0m ×2 + 38.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.315380478167390 + 38.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.315380478167390[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.865902909991945 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.865902909991945[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.324262218545066 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.324262218545066[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.200248752627903 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.200248752627903[0m ×2 + 38.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.604175866431188 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.604175866431188[0m ×2 + 38.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.037622160482478 + 38.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.037622160482478[0m ×2 + 38.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.448570594326927 + 38.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.448570594326927[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.907001527073756 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.907001527073756[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061442 + 38.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061442[0m ×2 + 38.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061445 + 38.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061445[0m ×2 + 38.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.782143925337603 + 38.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.782143925337603[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.185407300979307 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.185407300979307[0m ×2 + 38.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.617500026520055 + 38.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.617500026520055[0m ×2 + 38.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.028045769596275 + 38.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.028045769596275[0m ×2 + 38.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767569 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767569[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767583 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767583[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.021314485109095 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.021314485109095[0m ×2 + 38.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.613808840834558 + 38.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.613808840834558[0m ×2 + 38.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.166978861929735 + 38.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.166978861929735[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.302697136811002 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.302697136811002[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228252 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228252[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228240 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228240[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.491944073272320 + 38.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.491944073272320[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.780308373233787 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.780308373233787[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.662118638871393 + 38.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.662118638871393[0m ×2 + 38.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.147114073649346 ×2 + 38.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.147114073649346[0m ×4 + 38.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.518404955562826 + 38.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.518404955562826[0m ×2 + 38.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.959499305003153 + 38.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.959499305003153[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.404970762742298 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.404970762742298[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.805256377987750 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.805256377987750[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841289 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841289[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841293 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841293[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.674798991966330 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.674798991966330[0m ×2 + 38.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.115069408161105 + 38.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.115069408161105[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.819547912318345 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.819547912318345[0m ×2 + 38.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.315917373973612 + 38.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.315917373973612[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.674079766079068 + 38.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.674079766079068[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.111043003436706 + 38.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.111043003436706[0m ×2 + 38.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900066 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900066[0m ×2 + 38.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900073 + 38.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900073[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.991419712903941 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.991419712903941[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.506366139299374 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.506366139299374[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.082556255780794 + 38.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.082556255780794[0m ×2 + 38.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.797114241201097 + 38.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.797114241201097[0m ×2 + 38.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.582129159385495 + 38.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.582129159385495[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.703887382774320 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.703887382774320[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.607117403086539 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.607117403086539[0m ×2 + 38.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987646 + 38.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987646[0m ×2 + 38.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987657 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987657[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.292680020308731 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.292680020308731[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.655628947840599 + 38.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.655628947840599[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.232888521447926 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.232888521447926[0m ×2 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738725 ms (missed cycles : 3). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738725 ms (missed cycles : 3).[0m ×2 + 39.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.666759160708786 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.666759160708786[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.095501115874438 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.095501115874438[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.504796408375261 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.504796408375261[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.962388070598484 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.962388070598484[0m ×2 + 39.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.377866380464912 + 39.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.377866380464912[0m ×2 + 39.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.835816373448026 + 39.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.835816373448026[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.671504657187171 + 39.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.671504657187171[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.082186566675443 ×2 + 39.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.082186566675443[0m ×4 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.541038722931738 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.541038722931738[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.955851078770241 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.955851078770241[0m ×2 + 39.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.415060933738648 + 39.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.415060933738648[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.250218908996352 + 39.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.250218908996352[0m ×2 + 39.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.660590760158108 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.660590760158108[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.118874511988587 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.118874511988587[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.534804963500505 + 39.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.534804963500505[0m ×2 + 39.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.993755229042570 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.993755229042570[0m ×2 + 39.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.513834242168258 + 39.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.513834242168258[0m ×2 + 39.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848781 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848781[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848774 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848774[0m ×2 + 39.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.639913661603579 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.639913661603579[0m ×2 + 39.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.240901102796208 + 39.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.240901102796208[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.799482364411706 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.799482364411706[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.750483213069071 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.750483213069071[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.235177761710126 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.235177761710126[0m ×2 + 39.26sWARNcontroller_managerOverrun might occur, Total time : 2619.221 us (Expected < 1666.667 us) --> Read time : 278.852 us, Update time : 789.583 us, Write time : 1550.786 us + 39.26sWARNros2_control_nodeOverrun might occur, Total time : 2619.221 us (Expected < 1666.667 us) --> Read time : 278.852 us, Update time : 789.583 us, Write time : 1550.786 us[0m ×2 + 39.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.063200909325208 + 39.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.063200909325208[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.964971888822247 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.964971888822247[0m ×2 + 39.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.402961234961563 + 39.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.402961234961563[0m ×2 + 39.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.809778294707698 + 39.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.809778294707698[0m ×2 + 39.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.237720363729558 + 39.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.237720363729558[0m ×2 + 39.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.691373790199185 + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.691373790199185[0m ×2 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.113290443531289 + 39.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.113290443531289[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.535476624109187 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.535476624109187[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.964567534490484 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.964567534490484[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.413223294182689 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.413223294182689[0m ×2 + 39.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.836593481664842 + 39.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.836593481664842[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.323828585132617 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.323828585132617[0m ×2 + 39.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.689698772790624 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.689698772790624[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.395720553002015 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.395720553002015[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.259333050726347 ×2 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.259333050726347[0m ×4 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.746069784950549 + 39.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.746069784950549[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.112693841433050 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.112693841433050[0m ×2 + 39.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.844674168557876 + 39.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.844674168557876[0m ×2 + 39.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.412548581130377 + 39.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.412548581130377[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.002717372856647 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.002717372856647[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.543411517490532 + 39.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.543411517490532[0m ×2 + 39.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.129289898979228 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.129289898979228[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.671224903582859 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.671224903582859[0m ×2 + 39.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.269046308900836 + 39.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.269046308900836[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.837281315189767 + 39.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.837281315189767[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.031513354045088 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.031513354045088[0m ×2 + 39.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.446369627852114 + 39.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.446369627852114[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.905272086225487 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.905272086225487[0m ×2 + 39.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.307824570298400 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.307824570298400[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.740108534868366 + 39.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.740108534868366[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.150457297231759 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.150457297231759[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.608427993522460 ×2 + 39.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.608427993522460[0m ×4 + 39.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.317589507637980 + 39.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.317589507637980[0m ×2 + 39.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.727949209267496 + 39.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.727949209267496[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.186851426295028 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.186851426295028[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.602388014764035 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.602388014764035[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.061450301308504 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.061450301308504[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463849080921005 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463849080921005[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463847742287648 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463847742287648[0m ×2 + 39.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.895419375142708 + 39.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.895419375142708[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.306526162589556 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.306526162589556[0m ×2 + 39.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.181153780202589 + 39.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.181153780202589[0m ×2 + 39.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.028523798120227 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.028523798120227[0m ×2 + 39.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.578506089962985 + 39.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.578506089962985[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.830478291841461 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.830478291841461[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279839647801607 ×2 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279839647801607[0m ×4 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553342603296358 + 39.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553342603296358[0m ×2 + 39.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.407865224287725 + 39.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.407865224287725[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.856202325063066 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.856202325063066[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.265512248210214 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.265512248210214[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.715724275500378 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.715724275500378[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.124846466558477 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.124846466558477[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.574651020513265 ×2 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.574651020513265[0m ×4 + 39.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.984119743614958 + 39.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.984119743614958[0m ×2 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.442710307056714 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.442710307056714[0m ×2 + 39.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.848802121388857 + 39.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.848802121388857[0m ×2 + 39.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.294802881969655 + 39.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.294802881969655[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.703692789713010 + 39.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.703692789713010[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.152318765318025 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.152318765318025[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747219 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747219[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747223 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747223[0m ×2 + 40.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.128268619484732 + 40.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.128268619484732[0m ×2 + 40.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.670388489014275 + 40.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.670388489014275[0m ×2 + 40.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.151675 ms (missed cycles : 12). + 40.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.151675 ms (missed cycles : 12).[0m ×2 + 40.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.272061355057510 + 40.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.272061355057510[0m ×2 + 40.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553908716010396 + 40.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553908716010396[0m ×2 + 40.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.143804136437293 + 40.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.143804136437293[0m ×2 + 40.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.685229430604028 + 40.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.685229430604028[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.021728890324030 + 40.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.021728890324030[0m ×2 + 40.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.891169208196350 + 40.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.891169208196350[0m ×2 + 40.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.306011243770861 + 40.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.306011243770861[0m ×2 + 40.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.764237384825373 + 40.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.764237384825373[0m ×2 + 40.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.167132354188766 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.167132354188766[0m ×2 + 40.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.599017895761339 ×2 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.599017895761339[0m ×4 + 40.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.010034948749730 + 40.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.010034948749730[0m ×2 + 40.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.468403185063487 + 40.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.468403185063487[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.883326863347831 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.883326863347831[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.342339890356058 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.342339890356058[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.587844436160626 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.587844436160626[0m ×2 + 40.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.461871543916928 + 40.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.461871543916928[0m ×2 + 40.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.920614576589902 + 40.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.920614576589902[0m ×2 + 40.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.323665624237552 + 40.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.323665624237552[0m ×2 + 40.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.755321640726887 + 40.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.755321640726887[0m ×2 + 40.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.165641601502436 + 40.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.165641601502436[0m ×2 + 40.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.624621869391422 + 40.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.624621869391422[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.040138526504606 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.040138526504606[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.499231959441396 ×2 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.499231959441396[0m ×4 + 40.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.384534895624135 + 40.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.384534895624135[0m ×2 + 40.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.607921730554059 + 40.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.607921730554059[0m ×2 + 40.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.158255311049668 + 40.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.158255311049668[0m ×2 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.749082429964815 + 40.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.749082429964815[0m ×2 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453778 + 40.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453778[0m ×2 + 40.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453780 + 40.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453780[0m ×2 + 40.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.889698043763220 + 40.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.889698043763220[0m ×2 + 40.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.439975202175636 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.439975202175636[0m ×2 + 40.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.572285506775579 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.572285506775579[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.833731382248619 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.833731382248619[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279491385823299 + 40.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279491385823299[0m ×2 + 40.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.688214101826804 + 40.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.688214101826804[0m ×2 + 40.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.546148690155420 + 40.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.546148690155420[0m ×2 + 40.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.996488081245396 + 40.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.996488081245396[0m ×2 + 40.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.405625541831336 + 40.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.405625541831336[0m ×2 + 40.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.855528374065788 + 40.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.855528374065788[0m ×2 + 40.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.264984878653669 + 40.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.264984878653669[0m ×2 + 40.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.723701135378569 + 40.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.723701135378569[0m ×2 + 40.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.129674067568358 + 40.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.129674067568358[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.575734046906110 + 40.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.575734046906110[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.842738904182980 + 40.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.842738904182980[0m ×2 + 40.67sWARNcontroller_managerOverrun might occur, Total time : 3969.359 us (Expected < 1666.667 us) --> Read time : 171.648 us, Update time : 3267.198 us, Write time : 530.513 us + 40.67sWARNros2_control_nodeOverrun might occur, Total time : 3969.359 us (Expected < 1666.667 us) --> Read time : 171.648 us, Update time : 3267.198 us, Write time : 530.513 us[0m ×2 + 41.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824715 ms (missed cycles : 4). + 41.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824715 ms (missed cycles : 4).[0m ×2 + 41.24sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×3 + 41.25sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602394.81729102 seconds ×3 + 41.84sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602395.40874839 seconds. ×3 + 41.91sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 41.91sWARNcontroller_managerOverrun might occur, Total time : 2058.898 us (Expected < 1666.667 us) --> Read time : 288.423 us, Update time : 831.225 us, Write time : 939.250 us + 41.91sWARNros2_control_nodeOverrun might occur, Total time : 2058.898 us (Expected < 1666.667 us) --> Read time : 288.423 us, Update time : 831.225 us, Write time : 939.250 us[0m ×2 + 41.91sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 41.91sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 41.92sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 41.92sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 41.92sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 41.92sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 41.92sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 41.92sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 42.00sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 42.00sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 42.01sINFOros2_control_node[2026-06-04 19:46:35.572] [info] Received new action goal ×2 + 42.01sINFOros2_control_node[2026-06-04 19:46:35.572] [info] Accepted new action goal ×2 + 42.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749152 ms (missed cycles : 2). + 42.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749152 ms (missed cycles : 2).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964111 ms (missed cycles : 2). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964111 ms (missed cycles : 2).[0m ×2 + 43.15sWARNcontroller_managerOverrun might occur, Total time : 2118.920 us (Expected < 1666.667 us) --> Read time : 1524.795 us, Update time : 67.053 us, Write time : 527.072 us + 43.15sWARNros2_control_nodeOverrun might occur, Total time : 2118.920 us (Expected < 1666.667 us) --> Read time : 1524.795 us, Update time : 67.053 us, Write time : 527.072 us[0m ×2 + 44.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451430 ms (missed cycles : 4). + 44.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451430 ms (missed cycles : 4).[0m ×2 + 44.20sWARNcontroller_managerOverrun might occur, Total time : 5438.661 us (Expected < 1666.667 us) --> Read time : 203.818 us, Update time : 4736.811 us, Write time : 498.032 us + 44.20sWARNros2_control_nodeOverrun might occur, Total time : 5438.661 us (Expected < 1666.667 us) --> Read time : 203.818 us, Update time : 4736.811 us, Write time : 498.032 us[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 35.5s | 3 errors · 231 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us[0m ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852331 ms (missed cycles : 2). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852331 ms (missed cycles : 2).[0m ×2 + 7.87sWARNcontroller_managerOverrun might occur, Total time : 1835.768 us (Expected < 1666.667 us) --> Read time : 1384.559 us, Update time : 65.232 us, Write time : 385.977 us + 7.87sWARNros2_control_nodeOverrun might occur, Total time : 1835.768 us (Expected < 1666.667 us) --> Read time : 1384.559 us, Update time : 65.232 us, Write time : 385.977 us[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387269 ms (missed cycles : 2). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.387269 ms (missed cycles : 2).[0m ×2 + 8.94sWARNcontroller_managerOverrun might occur, Total time : 1891.390 us (Expected < 1666.667 us) --> Read time : 331.804 us, Update time : 1173.790 us, Write time : 385.796 us + 8.94sWARNros2_control_nodeOverrun might occur, Total time : 1891.390 us (Expected < 1666.667 us) --> Read time : 331.804 us, Update time : 1173.790 us, Write time : 385.796 us[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571313 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571313 ms (missed cycles : 3).[0m ×2 + 10.10sWARNcontroller_managerOverrun might occur, Total time : 9326.176 us (Expected < 1666.667 us) --> Read time : 215.970 us, Update time : 64.682 us, Write time : 9045.524 us + 10.10sWARNros2_control_nodeOverrun might occur, Total time : 9326.176 us (Expected < 1666.667 us) --> Read time : 215.970 us, Update time : 64.682 us, Write time : 9045.524 us[0m ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706463 ms (missed cycles : 4). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.706463 ms (missed cycles : 4).[0m ×2 + 11.16sWARNcontroller_managerOverrun might occur, Total time : 1832.308 us (Expected < 1666.667 us) --> Read time : 318.584 us, Update time : 531.982 us, Write time : 981.742 us + 11.16sWARNros2_control_nodeOverrun might occur, Total time : 1832.308 us (Expected < 1666.667 us) --> Read time : 318.584 us, Update time : 531.982 us, Write time : 981.742 us[0m ×2 + 11.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.192889 ms (missed cycles : 7). + 11.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.192889 ms (missed cycles : 7).[0m ×2 + 12.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529961 ms (missed cycles : 4). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.529961 ms (missed cycles : 4).[0m ×2 + 12.39sWARNcontroller_managerOverrun might occur, Total time : 3118.192 us (Expected < 1666.667 us) --> Read time : 182.758 us, Update time : 1964.443 us, Write time : 970.991 us + 12.39sWARNros2_control_nodeOverrun might occur, Total time : 3118.192 us (Expected < 1666.667 us) --> Read time : 182.758 us, Update time : 1964.443 us, Write time : 970.991 us[0m ×2 + 13.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663376 ms (missed cycles : 3). + 13.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.663376 ms (missed cycles : 3).[0m ×2 + 13.76sWARNcontroller_managerOverrun might occur, Total time : 1846.968 us (Expected < 1666.667 us) --> Read time : 190.358 us, Update time : 64.943 us, Write time : 1591.667 us + 13.77sWARNros2_control_nodeOverrun might occur, Total time : 1846.968 us (Expected < 1666.667 us) --> Read time : 190.358 us, Update time : 64.943 us, Write time : 1591.667 us[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032673 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.032673 ms (missed cycles : 2).[0m ×2 + 14.80sWARNcontroller_managerOverrun might occur, Total time : 2718.016 us (Expected < 1666.667 us) --> Read time : 158.457 us, Update time : 1436.491 us, Write time : 1123.068 us + 14.80sWARNros2_control_nodeOverrun might occur, Total time : 2718.016 us (Expected < 1666.667 us) --> Read time : 158.457 us, Update time : 1436.491 us, Write time : 1123.068 us[0m ×2 + 15.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.185463 ms (missed cycles : 8). + 15.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.185463 ms (missed cycles : 8).[0m ×2 + 15.89sWARNcontroller_managerOverrun might occur, Total time : 3779.250 us (Expected < 1666.667 us) --> Read time : 282.232 us, Update time : 231.280 us, Write time : 3265.738 us + 15.89sWARNros2_control_nodeOverrun might occur, Total time : 3779.250 us (Expected < 1666.667 us) --> Read time : 282.232 us, Update time : 231.280 us, Write time : 3265.738 us[0m ×2 + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834525 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834525 ms (missed cycles : 2).[0m ×2 + 17.26sWARNcontroller_managerOverrun might occur, Total time : 7754.329 us (Expected < 1666.667 us) --> Read time : 210.359 us, Update time : 63.313 us, Write time : 7480.657 us + 17.26sWARNros2_control_nodeOverrun might occur, Total time : 7754.329 us (Expected < 1666.667 us) --> Read time : 210.359 us, Update time : 63.313 us, Write time : 7480.657 us[0m ×2 + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464347 ms (missed cycles : 6). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.464347 ms (missed cycles : 6).[0m ×2 + 18.32sWARNcontroller_managerOverrun might occur, Total time : 1953.333 us (Expected < 1666.667 us) --> Read time : 188.478 us, Update time : 1335.897 us, Write time : 428.958 us + 18.32sWARNros2_control_nodeOverrun might occur, Total time : 1953.333 us (Expected < 1666.667 us) --> Read time : 188.478 us, Update time : 1335.897 us, Write time : 428.958 us[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837828 ms (missed cycles : 4). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.837828 ms (missed cycles : 4).[0m ×2 + 19.53sWARNcontroller_managerOverrun might occur, Total time : 3752.159 us (Expected < 1666.667 us) --> Read time : 213.129 us, Update time : 2958.995 us, Write time : 580.035 us + 19.53sWARNros2_control_nodeOverrun might occur, Total time : 3752.159 us (Expected < 1666.667 us) --> Read time : 213.129 us, Update time : 2958.995 us, Write time : 580.035 us[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785668 ms (missed cycles : 2). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785668 ms (missed cycles : 2).[0m ×2 + 20.57sWARNcontroller_managerOverrun might occur, Total time : 6333.199 us (Expected < 1666.667 us) --> Read time : 216.899 us, Update time : 5584.977 us, Write time : 531.323 us + 20.57sWARNros2_control_nodeOverrun might occur, Total time : 6333.199 us (Expected < 1666.667 us) --> Read time : 216.899 us, Update time : 5584.977 us, Write time : 531.323 us[0m ×2 + 20.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079533 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.079533 ms (missed cycles : 2).[0m ×2 + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047032 ms (missed cycles : 2). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047032 ms (missed cycles : 2).[0m ×2 + 21.72sWARNcontroller_managerOverrun might occur, Total time : 1870.770 us (Expected < 1666.667 us) --> Read time : 146.517 us, Update time : 657.067 us, Write time : 1067.186 us + 21.72sWARNros2_control_nodeOverrun might occur, Total time : 1870.770 us (Expected < 1666.667 us) --> Read time : 146.517 us, Update time : 657.067 us, Write time : 1067.186 us[0m ×2 + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888602 ms (missed cycles : 3). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888602 ms (missed cycles : 3).[0m ×2 + 22.78sWARNcontroller_managerOverrun might occur, Total time : 1755.164 us (Expected < 1666.667 us) --> Read time : 715.490 us, Update time : 47.732 us, Write time : 991.942 us + 22.79sWARNros2_control_nodeOverrun might occur, Total time : 1755.164 us (Expected < 1666.667 us) --> Read time : 715.490 us, Update time : 47.732 us, Write time : 991.942 us[0m ×2 + 23.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957677 ms (missed cycles : 2). + 23.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957677 ms (missed cycles : 2).[0m ×2 + 23.83sWARNcontroller_managerOverrun might occur, Total time : 1811.557 us (Expected < 1666.667 us) --> Read time : 197.688 us, Update time : 1174.730 us, Write time : 439.139 us + 23.83sWARNros2_control_nodeOverrun might occur, Total time : 1811.557 us (Expected < 1666.667 us) --> Read time : 197.688 us, Update time : 1174.730 us, Write time : 439.139 us[0m ×2 + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094792 ms (missed cycles : 5). + 24.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094792 ms (missed cycles : 5).[0m ×2 + 24.84sWARNcontroller_managerOverrun might occur, Total time : 2347.459 us (Expected < 1666.667 us) --> Read time : 207.838 us, Update time : 1711.283 us, Write time : 428.338 us + 24.84sWARNros2_control_nodeOverrun might occur, Total time : 2347.459 us (Expected < 1666.667 us) --> Read time : 207.838 us, Update time : 1711.283 us, Write time : 428.338 us[0m ×2 + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947204 ms (missed cycles : 3). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947204 ms (missed cycles : 3).[0m ×2 + 25.90sWARNcontroller_managerOverrun might occur, Total time : 5434.099 us (Expected < 1666.667 us) --> Read time : 292.992 us, Update time : 4572.153 us, Write time : 568.954 us + 25.90sWARNros2_control_nodeOverrun might occur, Total time : 5434.099 us (Expected < 1666.667 us) --> Read time : 292.992 us, Update time : 4572.153 us, Write time : 568.954 us[0m ×2 + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112138 ms (missed cycles : 2). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112138 ms (missed cycles : 2).[0m ×2 + 27.12sWARNcontroller_managerOverrun might occur, Total time : 1899.260 us (Expected < 1666.667 us) --> Read time : 197.128 us, Update time : 1324.516 us, Write time : 377.616 us + 27.12sWARNros2_control_nodeOverrun might occur, Total time : 1899.260 us (Expected < 1666.667 us) --> Read time : 197.128 us, Update time : 1324.516 us, Write time : 377.616 us[0m ×2 + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175615 ms (missed cycles : 2). + 27.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.175615 ms (missed cycles : 2).[0m ×2 + 28.65sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures" + 28.65sINFOfoxglove_bridgeAdvertising new channel 67 for topic "/pcd_pointcloud_captures"[0m ×2 + 28.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516481 ms (missed cycles : 5). + 28.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.516481 ms (missed cycles : 5).[0m ×2 + 29.05sWARNcontroller_managerOverrun might occur, Total time : 10279.793 us (Expected < 1666.667 us) --> Read time : 319.553 us, Update time : 66.312 us, Write time : 9893.928 us + 29.05sWARNros2_control_nodeOverrun might occur, Total time : 10279.793 us (Expected < 1666.667 us) --> Read time : 319.553 us, Update time : 66.312 us, Write time : 9893.928 us[0m ×2 + 29.15sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 29.15sINFOfoxglove_bridgeRemoving channel 67 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495940 ms (missed cycles : 6). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.495940 ms (missed cycles : 6).[0m ×2 + 30.25sWARNcontroller_managerOverrun might occur, Total time : 5252.572 us (Expected < 1666.667 us) --> Read time : 295.663 us, Update time : 4440.518 us, Write time : 516.391 us + 30.25sWARNros2_control_nodeOverrun might occur, Total time : 5252.572 us (Expected < 1666.667 us) --> Read time : 295.663 us, Update time : 4440.518 us, Write time : 516.391 us[0m ×2 + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717011 ms (missed cycles : 2). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717011 ms (missed cycles : 2).[0m ×2 + 31.32sWARNcontroller_managerOverrun might occur, Total time : 5420.220 us (Expected < 1666.667 us) --> Read time : 299.993 us, Update time : 4543.742 us, Write time : 576.485 us + 31.33sWARNros2_control_nodeOverrun might occur, Total time : 5420.220 us (Expected < 1666.667 us) --> Read time : 299.993 us, Update time : 4543.742 us, Write time : 576.485 us[0m ×2 + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541161 ms (missed cycles : 3). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541161 ms (missed cycles : 3).[0m ×2 + 32.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 32.25sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 32.26sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 32.57sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 32.57sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 32.58sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 32.60sINFOobjective_server_nodeFound path in 0 iterations (4.9e-07 s). ×2 + 32.64sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 32.67sINFOobjective_server_nodeFound path in 1 iterations (0.00341603 s). ×2 + 32.68sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution" + 32.69sINFOfoxglove_bridgeAdvertising new channel 68 for topic "/solution"[0m ×2 + 32.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 32.80sWARNcontroller_managerOverrun might occur, Total time : 3453.066 us (Expected < 1666.667 us) --> Read time : 172.067 us, Update time : 2719.455 us, Write time : 561.544 us + 32.80sWARNros2_control_nodeOverrun might occur, Total time : 3453.066 us (Expected < 1666.667 us) --> Read time : 172.067 us, Update time : 2719.455 us, Write time : 561.544 us[0m ×2 + 32.83sINFOros2_control_node[2026-06-04 19:43:56.603] [info] Received new action goal ×2 + 32.83sINFOros2_control_node[2026-06-04 19:43:56.603] [info] Accepted new action goal ×2 + 32.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496179 ms (missed cycles : 2). + 32.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.496179 ms (missed cycles : 2).[0m ×2 + 33.80sWARNcontroller_managerOverrun might occur, Total time : 11268.736 us (Expected < 1666.667 us) --> Read time : 260.271 us, Update time : 10534.775 us, Write time : 473.690 us + 33.80sWARNros2_control_nodeOverrun might occur, Total time : 11268.736 us (Expected < 1666.667 us) --> Read time : 260.271 us, Update time : 10534.775 us, Write time : 473.690 us[0m ×2 + 33.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773240 ms (missed cycles : 2). + 33.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773240 ms (missed cycles : 2).[0m ×2 + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780707 ms (missed cycles : 7). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.780707 ms (missed cycles : 7).[0m ×2 + 34.97sWARNcontroller_managerOverrun might occur, Total time : 1876.809 us (Expected < 1666.667 us) --> Read time : 269.961 us, Update time : 717.460 us, Write time : 889.388 us + 34.97sWARNros2_control_nodeOverrun might occur, Total time : 1876.809 us (Expected < 1666.667 us) --> Read time : 269.961 us, Update time : 717.460 us, Write time : 889.388 us[0m ×2 + 35.35sINFOros2_control_node[2026-06-04 19:43:59.126] [info] Received new action goal ×2 + 35.35sINFOros2_control_node[2026-06-04 19:43:59.126] [info] Accepted new action goal ×2 + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4).[0m ×2 + 36.18sWARNcontroller_managerOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us + 36.18sWARNros2_control_nodeOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us[0m ×2 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2).[0m ×2 + 37.10sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 37.11sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Received new action goal ×2 + 37.11sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Accepted new action goal ×2 + 37.25sWARNcontroller_managerOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us + 37.26sWARNros2_control_nodeOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us[0m ×2 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2).[0m ×2 + 38.26sWARNcontroller_managerOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us + 38.27sWARNros2_control_nodeOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us[0m ×2 + 38.50sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780602242.27380633 seconds ×3 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3). + 39.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3).[0m ×2 + 39.09sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780602242.87040591 seconds. ×3 + 39.17sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780602242.95056129 seconds ×3 + 39.28sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 39.29sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 39.30sWARNcontroller_managerOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us + 39.30sWARNros2_control_nodeOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us[0m ×2 + 39.79sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780602243.56900406 seconds. ×3 + 39.80sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 39.80sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 39.89sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 39.90sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 39.92sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Received new action goal ×2 + 39.92sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Accepted new action goal ×2 + 40.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6). + 40.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6).[0m ×2 + 40.44sWARNcontroller_managerOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us + 40.45sWARNros2_control_nodeOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us[0m ×2 + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6).[0m ×2 + 41.53sWARNcontroller_managerOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us + 41.53sWARNros2_control_nodeOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 32.4s | 4311 errors · 213 warnings · 8875 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2177 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001964727962 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4354 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001964727962[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002076715878 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002076715878[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001387956972 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001387956972[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000819173974 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000819173974[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002607313304 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002607313304[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002344660043 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002344660043[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001144198711 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001144198711[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001315352968 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001315352968[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857022930 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857022930[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633279213 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633279213[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001862141018 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001862141018[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788643332 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788643332[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011554639442 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011554639442[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284938427 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284938427[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001408029592 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001408029592[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001429086562 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001429086562[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853349110 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853349110[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424399096 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424399096[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002446120551 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002446120551[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215287079 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215287079[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001644925378 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001644925378[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987683984 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987683984[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001693166167 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001693166167[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002056167969 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002056167969[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488109820 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488109820[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001062752209 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001062752209[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001675356235 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001675356235[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002081581754 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002081581754[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000554169312 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000554169312[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001989221282 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001989221282[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000868234946 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000868234946[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001045770011 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001045770011[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782214468 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782214468[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968373716 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968373716[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000597249432 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000597249432[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001498727301 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001498727301[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001061898625 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001061898625[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008248277282 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008248277282[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001726284840 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001726284840[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296906121 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296906121[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001343128420 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001343128420[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152982536 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152982536[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558185263 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558185263[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817303817 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817303817[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000594091865 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000594091865[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000925451608 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000925451608[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199546 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199546[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960161545 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960161545[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001029554193 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001029554193[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548793068 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548793068[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830537965 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830537965[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133848245 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133848245[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907185634 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907185634[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763087903 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763087903[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000589213991 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000589213991[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530980044 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530980044[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000944409158 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000944409158[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516485784 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516485784[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000627287706 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000627287706[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000833382377 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000833382377[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918874485 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918874485[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978140596 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978140596[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404474781 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404474781[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000537485344 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000537485344[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001044406996 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001044406996[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001166933540 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001166933540[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961207611 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961207611[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000490375846 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000490375846[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000670723829 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000670723829[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440415802 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440415802[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001397956936 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001397956936[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433144983 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433144983[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000880438976 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000880438976[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000355444737 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000355444737[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001240298430 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001240298430[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625985458 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625985458[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000489438183 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000489438183[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000404300152 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000404300152[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000990741686 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000990741686[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001022224833 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001022224833[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421027268 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421027268[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000574258005 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000574258005[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000740713406 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000740713406[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000666285927 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000666285927[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356557534 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356557534[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000357636494 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000357636494[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177326 ms (missed cycles : 2). + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000815184373 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177326 ms (missed cycles : 2).[0m ×2 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000815184373[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842403075 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842403075[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000380526135 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000380526135[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456696776 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456696776[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000921315783 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000921315783[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028996548 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028996548[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004371256361 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004371256361[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000921837395 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000921837395[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158312034 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158312034[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516295902 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516295902[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000630711608 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000630711608[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000343425109 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000343425109[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000441190738 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000441190738[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535289157 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535289157[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217964044 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217964044[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281357422 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281357422[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000558223356 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000558223356[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000615509008 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000615509008[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000267459373 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000267459373[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213428192 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213428192[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000509698349 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 1734.004 us (Expected < 1666.667 us) --> Read time : 364.126 us, Update time : 217.959 us, Write time : 1151.919 us + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000509698349[0m ×2 + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 1734.004 us (Expected < 1666.667 us) --> Read time : 364.126 us, Update time : 217.959 us, Write time : 1151.919 us[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000322956700 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000322956700[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389052896 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389052896[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003018709671 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003018709671[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000822523365 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000822523365[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430113959 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430113959[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000333900434 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000333900434[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003452208464 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003452208464[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476141541 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476141541[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268466382 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268466382[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673549209 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673549209[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405364335 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405364335[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440250869 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440250869[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200340691 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200340691[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303991990 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303991990[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338169372 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338169372[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438182134 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438182134[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415349283 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415349283[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196708422 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196708422[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140714918 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140714918[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716513755 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716513755[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002756005524 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002756005524[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000332152332 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000332152332[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225785041 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225785041[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000488964466 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000488964466[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129929824 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129929824[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244750236 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244750236[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404238911 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404238911[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156384748 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156384748[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481543430 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481543430[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003182532726 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003182532726[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405518353 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405518353[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000334185046 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000334185046[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001465874691 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001465874691[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278144300 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278144300[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000408588686 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000408588686[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135211985 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135211985[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000278570962 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000278570962[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000264194083 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000264194083[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000371141271 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000371141271[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001445324782 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001445324782[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387863488 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387863488[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270347208 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270347208[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237984962 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237984962[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361829566 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361829566[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001904015911 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001904015911[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222152848 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222152848[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421838233 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421838233[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000960211857 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000960211857[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289191333 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289191333[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000202380761 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000202380761[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000176811103 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000176811103[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270531425 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270531425[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001469717080 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001469717080[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164915061 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164915061[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000240503942 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000240503942[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120414565 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120414565[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000405804009 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000405804009[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001787935563 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001787935563[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000254468998 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000254468998[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246371557 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246371557[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001233269822 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001233269822[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000210475273 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000210475273[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517894258 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517894258[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168232539 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168232539[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173350052 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173350052[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583307060 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583307060[0m ×2 + 1.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124798906 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124798906[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167865534 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167865534[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135772859 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135772859[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172589328 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172589328[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001048971285 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001048971285[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169203638 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169203638[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132613829 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132613829[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000938008650 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000938008650[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171291551 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171291551[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001004826353 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001004826353[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160748563 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160748563[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000122780063 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000122780063[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001008090617 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001008090617[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183366613 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183366613[0m ×2 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251120680 + 1.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251120680[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000990254427 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000990254427[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860248893 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860248893[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172286932 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172286932[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171375484 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171375484[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001005326407 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001005326407[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000155875766 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000155875766[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001573599201 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001573599201[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680082 ms (missed cycles : 2). + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321955083 + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680082 ms (missed cycles : 2).[0m ×2 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321955083[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156846126 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156846126[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001413772635 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001413772635[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001484456750 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001484456750[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000131300846 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000131300846[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001493999834 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001493999834[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001560979875 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001560979875[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126671946 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126671946[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000946046125 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000946046125[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137970121 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137970121[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134401288 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134401288[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029631506 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029631506[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059103041 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059103041[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137355035 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137355035[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001329656817 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001329656817[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001061235367 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001061235367[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000907858810 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000907858810[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001299773567 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001299773567[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001310111908 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001310111908[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102360540 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102360540[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001425021201 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001425021201[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001432293043 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001432293043[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001148334028 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001148334028[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2344.219 us (Expected < 1666.667 us) --> Read time : 410.977 us, Update time : 1442.481 us, Write time : 490.761 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2344.219 us (Expected < 1666.667 us) --> Read time : 410.977 us, Update time : 1442.481 us, Write time : 490.761 us[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000941180918 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000941180918[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043257530 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043257530[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000174864587 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000174864587[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000587906891 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000587906891[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000470964294 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000470964294[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000477941931 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000477941931[0m ×2 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000386363008 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000386363008[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000209429268 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000209429268[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000280265619 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000280265619[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525627710 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525627710[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415480640 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415480640[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333209708 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333209708[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339163980 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339163980[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000273408692 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000273408692[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000219923116 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000219923116[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177612484 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177612484[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000181931430 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000181931430[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000124664256 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000124664256[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155390041 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155390041[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000545222082 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000545222082[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000728714128 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000728714128[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573033924 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573033924[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000456634944 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000456634944[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000459199484 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000459199484[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365350559 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365350559[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089796 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089796[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089799 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089799[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231457088 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231457088[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184072092 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184072092[0m ×2 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000131312660 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000131312660[0m ×2 + 2.35sINFOjoint_trajectory_controllerAccepted new action goal ×740 + 2.35sINFOros2_control_nodeAccepted new action goal[0m ×1480 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269432 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269432 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 3605.772 us (Expected < 1666.667 us) --> Read time : 360.365 us, Update time : 2801.798 us, Write time : 443.609 us + 3.12sWARNros2_control_nodeOverrun might occur, Total time : 3605.772 us (Expected < 1666.667 us) --> Read time : 360.365 us, Update time : 2801.798 us, Write time : 443.609 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602415.72210550 seconds ×3 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825472 ms (missed cycles : 7). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825472 ms (missed cycles : 7).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.96sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.14sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780602416.32896304 seconds. ×3 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 9247.472 us (Expected < 1666.667 us) --> Read time : 295.532 us, Update time : 8327.863 us, Write time : 624.077 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 9247.472 us (Expected < 1666.667 us) --> Read time : 295.532 us, Update time : 8327.863 us, Write time : 624.077 us[0m ×2 + 4.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.22sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.34sINFOros2_control_node[2026-06-04 19:46:56.524] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-06-04 19:46:56.524] [info] Accepted new action goal ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.35sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388119 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388119 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun might occur, Total time : 1934.712 us (Expected < 1666.667 us) --> Read time : 256.091 us, Update time : 632.597 us, Write time : 1046.024 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 1934.712 us (Expected < 1666.667 us) --> Read time : 256.091 us, Update time : 632.597 us, Write time : 1046.024 us[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683468 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683468 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun might occur, Total time : 5521.843 us (Expected < 1666.667 us) --> Read time : 281.272 us, Update time : 4642.846 us, Write time : 597.725 us + 6.41sWARNros2_control_nodeOverrun might occur, Total time : 5521.843 us (Expected < 1666.667 us) --> Read time : 281.272 us, Update time : 4642.846 us, Write time : 597.725 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859041 ms (missed cycles : 4). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859041 ms (missed cycles : 4).[0m ×2 + 7.84sWARNcontroller_managerOverrun might occur, Total time : 1709.883 us (Expected < 1666.667 us) --> Read time : 248.271 us, Update time : 552.334 us, Write time : 909.278 us + 7.84sWARNros2_control_nodeOverrun might occur, Total time : 1709.883 us (Expected < 1666.667 us) --> Read time : 248.271 us, Update time : 552.334 us, Write time : 909.278 us[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.171114 ms (missed cycles : 5). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.171114 ms (missed cycles : 5).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384824 ms (missed cycles : 2). + 9.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384824 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun might occur, Total time : 2265.036 us (Expected < 1666.667 us) --> Read time : 241.990 us, Update time : 1570.807 us, Write time : 452.239 us + 9.25sWARNros2_control_nodeOverrun might occur, Total time : 2265.036 us (Expected < 1666.667 us) --> Read time : 241.990 us, Update time : 1570.807 us, Write time : 452.239 us[0m ×2 + 9.56sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 9.58sINFOros2_control_node[2026-06-04 19:47:01.760] [info] Received new action goal ×2 + 9.58sINFOros2_control_node[2026-06-04 19:47:01.760] [info] Accepted new action goal ×2 + 10.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484189 ms (missed cycles : 3). + 10.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.484189 ms (missed cycles : 3).[0m ×2 + 10.35sWARNcontroller_managerOverrun might occur, Total time : 2036.576 us (Expected < 1666.667 us) --> Read time : 138.265 us, Update time : 756.533 us, Write time : 1141.778 us + 10.35sWARNros2_control_nodeOverrun might occur, Total time : 2036.576 us (Expected < 1666.667 us) --> Read time : 138.265 us, Update time : 756.533 us, Write time : 1141.778 us[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073609 ms (missed cycles : 2). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.073609 ms (missed cycles : 2).[0m ×2 + 11.35sWARNcontroller_managerOverrun might occur, Total time : 1727.593 us (Expected < 1666.667 us) --> Read time : 469.050 us, Update time : 53.072 us, Write time : 1205.471 us + 11.35sWARNros2_control_nodeOverrun might occur, Total time : 1727.593 us (Expected < 1666.667 us) --> Read time : 469.050 us, Update time : 53.072 us, Write time : 1205.471 us[0m ×2 + 12.01sINFOros2_control_node[2026-06-04 19:47:04.189] [info] Received new action goal ×2 + 12.01sINFOros2_control_node[2026-06-04 19:47:04.189] [info] Accepted new action goal ×2 + 12.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943058 ms (missed cycles : 2). + 12.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943058 ms (missed cycles : 2).[0m ×2 + 12.35sWARNcontroller_managerOverrun might occur, Total time : 2064.456 us (Expected < 1666.667 us) --> Read time : 210.379 us, Update time : 888.837 us, Write time : 965.240 us + 12.36sWARNros2_control_nodeOverrun might occur, Total time : 2064.456 us (Expected < 1666.667 us) --> Read time : 210.379 us, Update time : 888.837 us, Write time : 965.240 us[0m ×2 + 13.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528057 ms (missed cycles : 3). + 13.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.528057 ms (missed cycles : 3).[0m ×2 + 13.62sWARNcontroller_managerOverrun might occur, Total time : 1845.448 us (Expected < 1666.667 us) --> Read time : 857.156 us, Update time : 82.934 us, Write time : 905.358 us + 13.63sWARNros2_control_nodeOverrun might occur, Total time : 1845.448 us (Expected < 1666.667 us) --> Read time : 857.156 us, Update time : 82.934 us, Write time : 905.358 us[0m ×2 + 14.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609167 ms (missed cycles : 4). + 14.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609167 ms (missed cycles : 4).[0m ×2 + 14.80sWARNcontroller_managerOverrun might occur, Total time : 10535.837 us (Expected < 1666.667 us) --> Read time : 304.082 us, Update time : 9627.889 us, Write time : 603.866 us + 14.80sWARNros2_control_nodeOverrun might occur, Total time : 10535.837 us (Expected < 1666.667 us) --> Read time : 304.082 us, Update time : 9627.889 us, Write time : 603.866 us[0m ×2 + 15.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.849330 ms (missed cycles : 7). + 15.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.849330 ms (missed cycles : 7).[0m ×2 + 15.87sWARNcontroller_managerOverrun might occur, Total time : 2005.355 us (Expected < 1666.667 us) --> Read time : 279.222 us, Update time : 764.163 us, Write time : 961.970 us + 15.87sWARNros2_control_nodeOverrun might occur, Total time : 2005.355 us (Expected < 1666.667 us) --> Read time : 279.222 us, Update time : 764.163 us, Write time : 961.970 us[0m ×2 + 15.93sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 15.97sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 15.98sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 15.98sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 15.98sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 15.98sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 15.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 15.98sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.98sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 15.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426824 ms (missed cycles : 3). + 16.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426824 ms (missed cycles : 3).[0m ×2 + 17.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663298 ms (missed cycles : 2). + 17.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.663298 ms (missed cycles : 2).[0m ×2 + 17.32sWARNcontroller_managerOverrun might occur, Total time : 2020.976 us (Expected < 1666.667 us) --> Read time : 279.402 us, Update time : 761.102 us, Write time : 980.472 us + 17.32sWARNros2_control_nodeOverrun might occur, Total time : 2020.976 us (Expected < 1666.667 us) --> Read time : 279.402 us, Update time : 761.102 us, Write time : 980.472 us[0m ×2 + 18.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.187769 ms (missed cycles : 6). + 18.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.187769 ms (missed cycles : 6).[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312211927690 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000312211927690[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155929178012 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155929178012[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037636598643 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037636598643[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000859733269 ×2 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000859733269[0m ×4 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159146147632 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000159146147632[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121212541182 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121212541182[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232703194972 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000232703194972[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518739350456 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518739350456[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891399893055 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891399893055[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218879725180 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218879725180[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219081240708 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000219081240708[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018259142116 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018259142116[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187822310823 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187822310823[0m ×2 + 18.75sWARNcontroller_managerOverrun might occur, Total time : 1729.965 us (Expected < 1666.667 us) --> Read time : 220.630 us, Update time : 198.408 us, Write time : 1310.927 us + 18.75sWARNros2_control_nodeOverrun might occur, Total time : 1729.965 us (Expected < 1666.667 us) --> Read time : 220.630 us, Update time : 198.408 us, Write time : 1310.927 us[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035274850227 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035274850227[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588191439993 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000588191439993[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724664814140 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724664814140[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153985886066 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001153985886066[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571634471434 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000571634471434[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431466505615 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000431466505615[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000708289374131 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000708289374131[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293175533563 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000293175533563[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106051097618 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106051097618[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000272125985038 ×2 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000272125985038[0m ×4 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172028768790 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172028768790[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371061110653 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001371061110653[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000827444461996 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000827444461996[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000852575042381 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000852575042381[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751951120947 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000751951120947[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480912939446 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000480912939446[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241230202728 ×2 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241230202728[0m ×4 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097423722208 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097423722208[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159438828888 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000159438828888[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729029252601 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002729029252601[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696503686144 ×2 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001696503686144[0m ×4 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090271233806 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090271233806[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000486309769511 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000486309769511[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692058854066 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000692058854066[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005064499510 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005064499510[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173530053823 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000173530053823[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136589188875 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136589188875[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357617175348 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000357617175348[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000229497451767 ×2 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000229497451767[0m ×4 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136889363904 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136889363904[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072885827216 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072885827216[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031317172903 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031317172903[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031430892769 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031430892769[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531146727924 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001531146727924[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184627229645 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002184627229645[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001388118876585 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001388118876585[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874574133125 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874574133125[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973512439171 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973512439171[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728136938896 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000728136938896[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000354151448539 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000354151448539[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001504370249495 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001504370249495[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859515673563 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000859515673563[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188026264243 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188026264243[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188218286837 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000188218286837[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121332569571 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121332569571[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150025526666 ×2 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150025526666[0m ×4 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147004386628 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000147004386628[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000378822223952 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000378822223952[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215077495227 ×2 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000215077495227[0m ×4 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108677682735 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108677682735[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043437542193 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043437542193[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006152023446 ×2 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006152023446[0m ×4 + 19.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013006823047 + 19.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013006823047[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004354556201 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004354556201[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037748797680 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037748797680[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035013003442 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035013003442[0m ×2 + 19.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169994 ms (missed cycles : 2). + 19.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169994 ms (missed cycles : 2).[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030925958706 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030925958706[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025677557677 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025677557677[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031889285694 ×2 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031889285694[0m ×4 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015779484978 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015779484978[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048462222235 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000048462222235[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204957042157 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204957042157[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347471670681 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000347471670681[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237090085713 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000237090085713[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160089392864 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160089392864[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107184823146 ×2 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107184823146[0m ×4 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071631376533 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000071631376533[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048174327833 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048174327833[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182691141695 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182691141695[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000218497369100 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000218497369100[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000479334073380 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000479334073380[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315365880481 ×2 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000315365880481[0m ×4 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125763430838 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125763430838[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204482961691 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000204482961691[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052305479273 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052305479273[0m ×2 + 19.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034198630833 + 19.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034198630833[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200096725006 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200096725006[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256816345199 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000256816345199[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176287537332 ×2 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176287537332[0m ×4 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122098588227 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122098588227[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082214721433 ×2 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082214721433[0m ×4 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056167802055 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056167802055[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040286141694 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040286141694[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029463003619 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029463003619[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022069201299 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022069201299[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000250667476686 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000250667476686[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155342451682 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155342451682[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088700032590 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000088700032590[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042766866558 ×2 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042766866558[0m ×4 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000777337814596 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000777337814596[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001279977307279 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001279977307279[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001925711102762 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001925711102762[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642703490530 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642703490530[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003057212430323 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003057212430323[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866577232662 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003866577232662[0m ×2 + 19.78sWARNcontroller_managerOverrun might occur, Total time : 8182.247 us (Expected < 1666.667 us) --> Read time : 212.449 us, Update time : 7421.224 us, Write time : 548.574 us + 19.78sWARNros2_control_nodeOverrun might occur, Total time : 8182.247 us (Expected < 1666.667 us) --> Read time : 212.449 us, Update time : 7421.224 us, Write time : 548.574 us[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055374797705 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005055374797705[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368389141890 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004368389141890[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142860389824 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142860389824[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065292199223 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005065292199223[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302266428226 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302266428226[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777642977979 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005777642977979[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765126744582 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765126744582[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045491093349 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045491093349[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444196856319 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002444196856319[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247375965116 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001247375965116[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783192674156 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783192674156[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270110744449 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270110744449[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082013303303 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082013303303[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082395882279 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003082395882279[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001723837598371 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001723837598371[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000848066692692 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000848066692692[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395798132154 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395798132154[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917958844781 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917958844781[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001094896646228 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001094896646228[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002056803269084 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002056803269084[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940516487000 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940516487000[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001528569527473 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001528569527473[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373927636844 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373927636844[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163984760753 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163984760753[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233196621046 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004233196621046[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294326721281 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294326721281[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593386460243 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004593386460243[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093814245561 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093814245561[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020812663450 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005020812663450[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326152070610 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326152070610[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849409105267 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849409105267[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656805461476 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004656805461476[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049629134786 + 20.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049629134786[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655753247415 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003655753247415[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678474783295 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004678474783295[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715901650876 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715901650876[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217339129628 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217339129628[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595452240369 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595452240369[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788364120401 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004788364120401[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225467838273 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225467838273[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528910057746 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528910057746[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035665373263 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035665373263[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137186953264 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003137186953264[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497504359501 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004497504359501[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345229279486 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005345229279486[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572858001290 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004572858001290[0m ×2 + 20.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035631374961 + 20.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035631374961[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843619262602 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004843619262602[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186170028462 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186170028462[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751790700270 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003751790700270[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745665239089 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745665239089[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116089992762 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116089992762[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705008636502 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003705008636502[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004717087440631 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004717087440631[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100644128552 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004100644128552[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698437708693 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698437708693[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004716226531702 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004716226531702[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844290055938 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004844290055938[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183290942578 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004183290942578[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003749303464804 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003749303464804[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745565986243 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745565986243[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873691585857 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004873691585857[0m ×2 + 20.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252452 ms (missed cycles : 4). + 20.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.252452 ms (missed cycles : 4).[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198262307562 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004198262307562[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096490037545 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003096490037545[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455457467248 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004455457467248[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264629601384 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005264629601384[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548692973489 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004548692973489[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308688673560 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005308688673560[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495376934145 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495376934145[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946427304748 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946427304748[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755095491400 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004755095491400[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102626030572 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102626030572[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947511759662 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947511759662[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071885732092 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071885732092[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004963674073630 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004963674073630[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255897586573 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004255897586573[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788404514252 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003788404514252[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597088353817 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597088353817[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002868732928 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004002868732928[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719380829973 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719380829973[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780266214100 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004780266214100[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217899814126 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217899814126[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449802614329 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004449802614329[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194261721011 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005194261721011[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179466383070 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004179466383070[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987380835548 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987380835548[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265430579924 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004265430579924[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056694125290 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005056694125290[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286377161186 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004286377161186[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723957279041 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004723957279041[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055976486724 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004055976486724[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903480838790 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903480838790[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175376031004 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004175376031004[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972798647117 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004972798647117[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993111647350 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004993111647350[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228140570602 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228140570602[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735975548067 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735975548067[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700882717933 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004700882717933[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139143832634 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139143832634[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333765168543 + 20.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333765168543[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076830878469 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005076830878469[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087849595042 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005087849595042[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224883957211 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003224883957211[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484789290415 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484789290415[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281360098239 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281360098239[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719293937443 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719293937443[0m ×2 + 20.80sWARNcontroller_managerOverrun might occur, Total time : 8097.843 us (Expected < 1666.667 us) --> Read time : 260.201 us, Update time : 88.924 us, Write time : 7748.718 us + 20.80sWARNros2_control_nodeOverrun might occur, Total time : 8097.843 us (Expected < 1666.667 us) --> Read time : 260.201 us, Update time : 88.924 us, Write time : 7748.718 us[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760708837737 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004760708837737[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776949886263 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776949886263[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292649862138 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004292649862138[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237239144163 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005237239144163[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784936780315 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784936780315[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592997732115 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006592997732115[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309169137150 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005309169137150[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689308340837 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005689308340837[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005817347833990 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005817347833990[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714108080673 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714108080673[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253968467548 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005253968467548[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335730240864 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335730240864[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143276955939 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143276955939[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249791304078 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249791304078[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953270747579 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953270747579[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311088583388 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311088583388[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173623653562 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005173623653562[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687104980571 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005687104980571[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699848319541 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004699848319541[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298731841928 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298731841928[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735465569235 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735465569235[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672640547440 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672640547440[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243925803435 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243925803435[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005679577411222 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005679577411222[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605125338886 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605125338886[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874513961274 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874513961274[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553292318805 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003553292318805[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612319602432 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612319602432[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294408036768 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005294408036768[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005730749459261 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005730749459261[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708264087190 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708264087190[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276845480082 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005276845480082[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371417192243 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004371417192243[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177464451659 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005177464451659[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047929892376 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004047929892376[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879296034730 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879296034730[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410081491906 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005410081491906[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463533859968 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004463533859968[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105779821234 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105779821234[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541987015238 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005541987015238[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189651337553 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189651337553[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959166506407 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004959166506407[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445941777108 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445941777108[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472820789043 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004472820789043[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099120794523 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005099120794523[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534545131277 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005534545131277[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508279497651 + 21.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508279497651[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759983819885 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759983819885[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564219425810 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004564219425810[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874564607590 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003874564607590[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814729751098 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814729751098[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402138484928 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402138484928[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742552862330 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742552862330[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005977763169884 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005977763169884[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806862148588 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806862148588[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281279202646 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281279202646[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325468844444 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004325468844444[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964462836179 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004964462836179[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005398793639571 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005398793639571[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398518740552 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004398518740552[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699725661686 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699725661686[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552627614351 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552627614351[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629346236332 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004629346236332[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433354402370 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005433354402370[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008302433170577 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008302433170577[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007556660820013 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007556660820013[0m ×2 + 21.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391892 ms (missed cycles : 2). + 21.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.391892 ms (missed cycles : 2).[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712836840810 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005712836840810[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749509362338 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749509362338[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006183280493859 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006183280493859[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004783712392359 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004783712392359[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005148718822997 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005148718822997[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402330521500 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402330521500[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318615465251 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318615465251[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895261405274 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004895261405274[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005285505950747 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005285505950747[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519883168242 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005519883168242[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064921611642 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064921611642[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601947817145 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601947817145[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003543509886488 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003543509886488[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633705864295 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004633705864295[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311111319297 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005311111319297[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006787871739405 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006787871739405[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550781513126 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003550781513126[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582680383959 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004582680383959[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362128352937 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005362128352937[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700345047762 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700345047762[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872276900682 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005872276900682[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007347726338136 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007347726338136[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006858236007270 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006858236007270[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006475926060933 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006475926060933[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006191184530567 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006191184530567[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006622571533003 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006622571533003[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008434478121 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008434478121[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690094313123 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690094313123[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162862325147 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005162862325147[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438851752962 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005438851752962[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607171793724 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005607171793724[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701245132962 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005701245132962[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746357445246 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746357445246[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760924170459 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005760924170459[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005886977095833 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005886977095833[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590261658388 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590261658388[0m ×2 + 21.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012803179595 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005012803179595[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807811964654 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005807811964654[0m ×2 + 21.81sWARNcontroller_managerOverrun might occur, Total time : 2234.487 us (Expected < 1666.667 us) --> Read time : 255.251 us, Update time : 527.503 us, Write time : 1451.733 us + 21.81sWARNros2_control_nodeOverrun might occur, Total time : 2234.487 us (Expected < 1666.667 us) --> Read time : 255.251 us, Update time : 527.503 us, Write time : 1451.733 us[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123798499991 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004123798499991[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539850438564 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003539850438564[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512947450396 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512947450396[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005980275454710 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005980275454710[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056934399479 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056934399479[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048449159660 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006048449159660[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988890538766 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988890538766[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005919406810931 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005919406810931[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151583754982 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006151583754982[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988578613477 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988578613477[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043383745045 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043383745045[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181612539407 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181612539407[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644156433408 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644156433408[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833012199619 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833012199619[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902025317146 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005902025317146[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006692980980697 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006692980980697[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300641098925 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003300641098925[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761271496130 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004761271496130[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251440432727 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005251440432727[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004081916478 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004081916478[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772794537379 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004772794537379[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006231453321289 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006231453321289[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006160770428580 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006160770428580[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056824115119 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006056824115119[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005944507327325 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005944507327325[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006732499447496 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006732499447496[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006332960687854 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006332960687854[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006038400132295 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006038400132295[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833241116667 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833241116667[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695587603404 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005695587603404[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925967478991 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925967478991[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751437883103 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005751437883103[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005638759665079 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005638759665079[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868859152583 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005868859152583[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700672546928 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005700672546928[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708713541783 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708713541783[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326926088083 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005326926088083[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809950347510 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002809950347510[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259885263675 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259885263675[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007175725233901 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007175725233901[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006727278252864 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006727278252864[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358794386386 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006358794386386[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085123883369 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085123883369[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153010668003 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004153010668003[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007124171747391 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007124171747391[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006694078626701 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006694078626701[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006334547305448 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006334547305448[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777249747496 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007777249747496[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006950197649102 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006950197649102[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006356971854931 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006356971854931[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953798349258 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005953798349258[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375919433230 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375919433230[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951996987554 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005951996987554[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005678960386221 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005678960386221[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513360334870 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513360334870[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421643344210 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005421643344210[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972068617032 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005972068617032[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295135824752 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295135824752[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522504475619 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006522504475619[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006192791768916 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006192791768916[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005931918496994 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005931918496994[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743781076175 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005743781076175[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007175989701342 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007175989701342[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006500134214320 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006500134214320[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006030225299395 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006030225299395[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718330475029 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005718330475029[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629171 ms (missed cycles : 4). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.629171 ms (missed cycles : 4).[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006491903509110 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006491903509110[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885972028773 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885972028773[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117783233776 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006117783233776[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006343948781617 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006343948781617[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063267486059 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063267486059[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019992045682 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004019992045682[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350895646470 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350895646470[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116767605637 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004116767605637[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662266624747 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662266624747[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016762477148 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005016762477148[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005950078454786 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005950078454786[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005860530177014 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005860530177014[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749644718645 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005749644718645[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518058932337 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006518058932337[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006427268781411 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006427268781411[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063078018622 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006063078018622[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003401030134197 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003401030134197[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006326027860256 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006326027860256[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008201933907425 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008201933907425[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230524945798 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005230524945798[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005996451118687 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005996451118687[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006024420459912 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006024420459912[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303137326834 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303137326834[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029189755841 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029189755841[0m ×2 + 22.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549414887646 + 22.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549414887646[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677453555191 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002677453555191[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001132350960776 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001132350960776[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424593849380 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005424593849380[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836745643783 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005836745643783[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832763708781 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005832763708781[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007968117421839 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007968117421839[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007036689144790 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007036689144790[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007036696386902 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007036696386902[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893296869906 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893296869906[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357360549000 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004357360549000[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006883986259739 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006883986259739[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279989070496 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279989070496[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006153346692373 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006153346692373[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467714319686 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467714319686[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104276053045 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104276053045[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546085333916 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004546085333916[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852561586024 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852561586024[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228888842511 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007228888842511[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006511172595116 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006511172595116[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005993531076764 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005993531076764[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007385039207841 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007385039207841[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013432799060158 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013432799060158[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012424731151398 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012424731151398[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009399730447023 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009399730447023[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378162082164 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378162082164[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006098330135273 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006098330135273[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007507036747118 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007507036747118[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007625790097786 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007625790097786[0m ×2 + 22.97sWARNcontroller_managerOverrun might occur, Total time : 1679.393 us (Expected < 1666.667 us) --> Read time : 320.864 us, Update time : 501.322 us, Write time : 857.207 us + 22.98sWARNros2_control_nodeOverrun might occur, Total time : 1679.393 us (Expected < 1666.667 us) --> Read time : 320.864 us, Update time : 501.322 us, Write time : 857.207 us[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802684329410 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004802684329410[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554030569211 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005554030569211[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007629213846138 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007629213846138[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008890044968778 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008890044968778[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009293400717448 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009293400717448[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007675133986592 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007675133986592[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006412282251057 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006412282251057[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988019793344 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988019793344[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007757950893183 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007757950893183[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008834044257386 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008834044257386[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007282025628778 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007282025628778[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008381315995628 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008381315995628[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008782235924694 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008782235924694[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007141371747193 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007141371747193[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062467126223 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006062467126223[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007534293086970 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007534293086970[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006335839542403 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006335839542403[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007710663704305 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007710663704305[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468258087053 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468258087053[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005647694439035 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005647694439035[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007286259624881 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007286259624881[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205597857325 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006205597857325[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007563494524633 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007563494524633[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006355775393034 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006355775393034[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007706850694961 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007706850694961[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433054087062 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006433054087062[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007736048707992 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007736048707992[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435233253669 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435233253669[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673605578311 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005673605578311[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007370484277297 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007370484277297[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008718162004366 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008718162004366[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007149995893826 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007149995893826[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008203534894577 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008203534894577[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006724970786542 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006724970786542[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865808119546 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865808119546[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006471749893566 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006471749893566[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007812457910834 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007812457910834[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006407393400978 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006407393400978[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007612440093841 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007612440093841[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008657646634 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006008657646634[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007463439145064 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007463439145064[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008370928148919 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008370928148919[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008892548533005 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008892548533005[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009006671600324 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009006671600324[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006487038591223 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006487038591223[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007677645041519 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007677645041519[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008417171399397 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008417171399397[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006256592330650 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006256592330650[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008702245822310 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008702245822310[0m ×2 + 23.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778669 ms (missed cycles : 2). + 23.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778669 ms (missed cycles : 2).[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009047567690319 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009047567690319[0m ×2 + 23.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007122775855724 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007122775855724[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007936012398580 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007936012398580[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008442245377554 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008442245377554[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008827621032678 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008827621032678[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006908730072469 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006908730072469[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738802430345 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007738802430345[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271562210997 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271562210997[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008655529114929 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008655529114929[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773170613077 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006773170613077[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007627393351393 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007627393351393[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008180699703683 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008180699703683[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887598430778 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008887598430778[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006905396076600 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006905396076600[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007682779622212 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007682779622212[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008985856086979 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008985856086979[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583487728963 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004583487728963[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006489845103853 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006489845103853[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007705457900381 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007705457900381[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425532742747 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425532742747[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806286184509 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008806286184509[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004686742223098 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004686742223098[0m ×2 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006570945295700 + 23.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006570945295700[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007754667249921 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007754667249921[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008441506863472 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008441506863472[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010817866163837 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010817866163837[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010255711723871 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010255711723871[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009754264511989 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009754264511989[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009338102691355 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009338102691355[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010030521438904 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010030521438904[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009437226555273 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009437226555273[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009005765769566 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009005765769566[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008705014542553 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008705014542553[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009077966068507 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009077966068507[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008733972719054 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008733972719054[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102019749419 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102019749419[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992391519574 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005992391519574[0m ×2 + 23.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007226055580341 + 23.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007226055580341[0m ×2 + 23.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011642683659979 + 23.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011642683659979[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011750977399569 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011750977399569[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010717713075806 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010717713075806[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009900339958934 + 23.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009900339958934[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009283250134622 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009283250134622[0m ×2 + 23.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009963310701159 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009963310701159[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009255040425749 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009255040425749[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008762745026463 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008762745026463[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009440563925526 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009440563925526[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009459738247472 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009459738247472[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008969817848627 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008969817848627[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008617357441031 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008617357441031[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008373434809413 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008373434809413[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008211141382396 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008211141382396[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009452279068955 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009452279068955[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008870209791011 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008870209791011[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008473172306111 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008473172306111[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214449000518 + 23.98sWARNcontroller_managerOverrun might occur, Total time : 3857.558 us (Expected < 1666.667 us) --> Read time : 149.746 us, Update time : 3101.446 us, Write time : 606.366 us + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008214449000518[0m ×2 + 23.99sWARNros2_control_nodeOverrun might occur, Total time : 3857.558 us (Expected < 1666.667 us) --> Read time : 149.746 us, Update time : 3101.446 us, Write time : 606.366 us[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009449205491730 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009449205491730[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007647624014678 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007647624014678[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007842655774306 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007842655774306[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011676227751459 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011676227751459[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010423764587299 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010423764587299[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009805864877857 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009805864877857[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010467077136260 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010467077136260[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516370012435 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516370012435[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008836501476385 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008836501476385[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008370788610338 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008370788610338[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011584494694878 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011584494694878[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011939579920221 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011939579920221[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010070915516565 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010070915516565[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009081542854320 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009081542854320[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008960568101762 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008960568101762[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010163574973176 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010163574973176[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009208154776255 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009208154776255[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012017777690197 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012017777690197[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010232340126239 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010232340126239[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011427609520827 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011427609520827[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009749368292167 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009749368292167[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008640147910165 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008640147910165[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011394168447761 + 24.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011394168447761[0m ×2 + 24.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011496012796418 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011496012796418[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009724428760600 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009724428760600[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008563393997017 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008563393997017[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008388358147056 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008388358147056[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008621630006398 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008621630006398[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009797793177231 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009797793177231[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012347495434432 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012347495434432[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010423333622159 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010423333622159[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012477659481967 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012477659481967[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010286387041739 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010286387041739[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012195030116133 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012195030116133[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012535238951564 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012535238951564[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009563496775912 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009563496775912[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011734782645236 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011734782645236[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012889145265822 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012889145265822[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010411622915232 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010411622915232[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012107955159021 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012107955159021[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009796696223169 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009796696223169[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011914841541789 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011914841541789[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768027757179 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005768027757179[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009784440182734 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009784440182734[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012249752050402 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012249752050402[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013626044401411 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013626044401411[0m ×2 + 24.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015717122951331 + 24.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730993 ms (missed cycles : 2). + 24.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015717122951331[0m ×2 + 24.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.730993 ms (missed cycles : 2).[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006381218158832 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006381218158832[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010002419574145 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010002419574145[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012211544600727 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012211544600727[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014280942566986 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014280942566986[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014695602717505 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014695602717505[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014697202338957 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014697202338957[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014476570388469 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014476570388469[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010951147279023 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010951147279023[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012995611914001 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012995611914001[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009911829262513 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009911829262513[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011159114309341 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011159114309341[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011963943563104 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011963943563104[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012444391491881 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012444391491881[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012697485420654 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012697485420654[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009646192039510 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009646192039510[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011655716634471 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011655716634471[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012107789343377 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012107789343377[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012369097052507 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012369097052507[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012496772031904 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012496772031904[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012589103558658 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012589103558658[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012591662860983 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012591662860983[0m ×2 + 24.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.47% of iterations over budget over 4:10.023 of wall time (1124/76703). Consistently above 1% means the model timestep should be raised.[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012549172844196 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012549172844196[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014013579296259 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014013579296259[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013538329355168 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013538329355168[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013122263775181 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013122263775181[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012777139929051 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012777139929051[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012501704772966 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012501704772966[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013069588289371 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013069588289371[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012633539378444 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012633539378444[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012315488500930 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012315488500930[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012089219597927 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012089219597927[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013128068464720 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013128068464720[0m ×2 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011273294732012 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011273294732012[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017414636620723 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017414636620723[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015548158282478 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015548158282478[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016570986253737 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016570986253737[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014746691458666 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014746691458666[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013426205401893 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013426205401893[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013433897085696 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013433897085696[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015298536382270 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015298536382270[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013805217480209 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013805217480209[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013534487171336 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013534487171336[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012686879301267 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012686879301267[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017391707739913 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017391707739913[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017405161899312 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017405161899312[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014881444062517 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014881444062517[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013130631176785 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013130631176785[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011972608581493 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011972608581493[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011248409858006 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011248409858006[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014579841754619 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014579841754619[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012850220116143 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012850220116143[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011717940592004 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011717940592004[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015021087051144 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015021087051144[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013024393761361 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013024393761361[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011720700020468 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011720700020468[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014995514026759 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014995514026759[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012907200721392 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012907200721392[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011556330166428 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011556330166428[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015818906087832 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015818906087832[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010212016565860 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010212016565860[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013416927217069 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013416927217069[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017327465494349 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017327465494349[0m ×2 + 25.05sWARNcontroller_managerOverrun might occur, Total time : 2195.966 us (Expected < 1666.667 us) --> Read time : 251.911 us, Update time : 87.354 us, Write time : 1856.701 us + 25.05sWARNros2_control_nodeOverrun might occur, Total time : 2195.966 us (Expected < 1666.667 us) --> Read time : 251.911 us, Update time : 87.354 us, Write time : 1856.701 us[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019542744217332 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019542744217332[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010773621118192 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010773621118192[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011651276589552 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011651276589552[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014770357651064 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014770357651064[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017946586140986 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017946586140986[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019642821220865 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019642821220865[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015542795679959 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015542795679959[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018607611899897 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018607611899897[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014617245325573 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014617245325573[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016756296758357 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016756296758357[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017643449753259 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017643449753259[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013782223949484 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013782223949484[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016017796507181 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016017796507181[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016895533287760 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016895533287760[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013197822115448 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013197822115448[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008256397731364 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008256397731364[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013265643038635 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013265643038635[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016335420628412 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016335420628412[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026497313037977 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026497313037977[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019377220475513 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019377220475513[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020226340637109 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020226340637109[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015022039466959 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015022039466959[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016122818175881 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016122818175881[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016745423967024 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016745423967024[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018278183113149 + 25.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018278183113149[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013531089742191 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013531089742191[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014936519116572 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014936519116572[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018646997168485 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018646997168485[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018298258016468 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018298258016468[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017849044036196 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017849044036196[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020579192803258 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020579192803258[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014762080952153 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014762080952153[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015263562143498 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015263562143498[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017959287599359 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017959287599359[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017178593241906 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017178593241906[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016570384553403 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016570384553403[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016106365820913 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016106365820913[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017701255784771 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017701255784771[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020305946949017 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020305946949017[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018529675772844 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018529675772844[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017185822841230 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017185822841230[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017654677449032 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017654677449032[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022334341384543 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022334341384543[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019464276450271 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019464276450271[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017386916663916 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017386916663916[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015942341759205 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015942341759205[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022121663338669 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022121663338669[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018656039446123 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018656039446123[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019366150439691 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019366150439691[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017021638521599 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017021638521599[0m ×2 + 25.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514922 ms (missed cycles : 3). + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022371403634953 + 25.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514922 ms (missed cycles : 3).[0m ×2 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022371403634953[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018574014859644 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018574014859644[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015991531050224 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015991531050224[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021052443476136 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021052443476136[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017351422524115 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017351422524115[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021509191435722 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021509191435722[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021702618623618 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021702618623618[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017472792909432 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017472792909432[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021174241774660 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021174241774660[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016893705633817 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016893705633817[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019086855084372 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019086855084372[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015017652597087 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015017652597087[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025542790969424 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025542790969424[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026015033099506 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026015033099506[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019713092971073 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019713092971073[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021465632442774 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021465632442774[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016407884457677 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016407884457677[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019029368027836 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019029368027836[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022723104134725 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022723104134725[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016988159749473 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016988159749473[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023303243668521 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023303243668521[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023069894267149 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023069894267149[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024974562878515 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024974562878515[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018167037889350 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018167037889350[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019174589371503 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019174589371503[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019659584825962 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019659584825962[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023046826632701 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023046826632701[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017033612737842 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017033612737842[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028743913618733 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028743913618733[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025882443439242 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025882443439242[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023423297018010 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023423297018010[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029211954984262 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029211954984262[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018725588424167 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018725588424167[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027233314930597 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027233314930597[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023308541192239 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023308541192239[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044190565872035 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044190565872035[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028122838984800 + 25.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028122838984800[0m ×2 + 25.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021790726740299 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021790726740299[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008346089409096 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008346089409096[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017485693034149 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017485693034149[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026591966076041 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026591966076041[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011477038877846 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011477038877846[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012075906904457 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012075906904457[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019639347134703 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019639347134703[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020366199935626 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020366199935626[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017309857330817 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017309857330817[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022320033514685 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022320033514685[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018108211060102 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018108211060102[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022019352325526 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022019352325526[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022383281059999 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022383281059999[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017678616673869 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017678616673869[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021047189083360 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021047189083360[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022822395758445 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022822395758445[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026903455544285 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026903455544285[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019661256394962 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019661256394962[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020642854866144 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020642854866144[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020899280464379 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020899280464379[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020722163516066 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020722163516066[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020270218715273 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020270218715273[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023625144012242 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023625144012242[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021634449783230 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021634449783230[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019974945277114 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019974945277114[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020497142988457 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020497142988457[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027709861182184 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027709861182184[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022878138574875 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022878138574875[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012498660761481 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012498660761481[0m ×2 + 26.18sWARNcontroller_managerOverrun might occur, Total time : 1975.277 us (Expected < 1666.667 us) --> Read time : 323.265 us, Update time : 71.283 us, Write time : 1580.729 us + 26.18sWARNros2_control_nodeOverrun might occur, Total time : 1975.277 us (Expected < 1666.667 us) --> Read time : 323.265 us, Update time : 71.283 us, Write time : 1580.729 us[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008257315271195 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008257315271195[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018243377646646 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018243377646646[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023890023349942 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023890023349942[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026633482306898 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026633482306898[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016725237385697 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016725237385697[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026455038952413 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026455038952413[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030334039500368 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030334039500368[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016970518761646 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016970518761646[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030264111540668 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030264111540668[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026563961051188 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026563961051188[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011963483255826 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011963483255826[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023645274923246 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023645274923246[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029254056322347 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029254056322347[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023836808697454 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023836808697454[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010196107199331 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010196107199331[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642149980608 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003642149980608[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001273450284510 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001273450284510[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259653000835 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259653000835[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014286197336655 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014286197336655[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295079016008 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006295079016008[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017511346604522 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017511346604522[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025792039617451 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025792039617451[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872492739590 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000872492739590[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012360566573843 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012360566573843[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007491744287718 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007491744287718[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967731489661 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003967731489661[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878219720343 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001878219720343[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011699280325153 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011699280325153[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011927268249287 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011927268249287[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018130720816141 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018130720816141[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010365673357434 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010365673357434[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989123761274 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004989123761274[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621855826687 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001621855826687[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012028429145050 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012028429145050[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027616373823 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006027616373823[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224693520170 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002224693520170[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012044970145 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012044970145[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009783781214606 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009783781214606[0m ×2 + 26.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341437 ms (missed cycles : 3). + 26.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341437 ms (missed cycles : 3).[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014563670294800 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014563670294800[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000519149721180 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000519149721180[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000933202289296 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000933202289296[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001583348132625 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001583348132625[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259904684735 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006259904684735[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010884566448760 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010884566448760[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013132674977119 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013132674977119[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008673515510834 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008673515510834[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144508076832 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144508076832[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153126774525 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002153126774525[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015318037429368 + 26.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015318037429368[0m ×2 + 26.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009380109948204 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009380109948204[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991017210574 + 26.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004991017210574[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006157457152544 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006157457152544[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402865525823 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402865525823[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907888980064 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005907888980064[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010333541251 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010333541251[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490995217309 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006490995217309[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008430013682412 ×2 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008430013682412[0m ×4 + 26.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393293057074 + 26.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393293057074[0m ×2 + 26.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656356356938 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002656356356938[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317430591640 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002317430591640[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000766046079534 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000766046079534[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007604533050242 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007604533050242[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008075996898134 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008075996898134[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006692624879984 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006692624879984[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010835186935005 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010835186935005[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012768635350804 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012768635350804[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010448622788733 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010448622788733[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008691704213339 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008691704213339[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868534913120 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004868534913120[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189242875674 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002189242875674[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023754206506 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023754206506[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172275775233 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001172275775233[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275235392272 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000275235392272[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012920630098 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012920630098[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214729316496 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002214729316496[0m ×2 + 26.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067666641899 + 26.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067666641899[0m ×2 + 26.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867567633867 + 26.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000867567633867[0m ×2 + 26.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344845915408 + 26.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344845915408[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006184038994084 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006184038994084[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768802021260 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003768802021260[0m ×2 + 26.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008119183882770 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008119183882770[0m ×2 + 26.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837058568747 ×2 + 26.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004837058568747[0m ×4 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031220934427 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031220934427[0m ×2 + 27.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241339172556 + 27.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241339172556[0m ×2 + 27.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000305437823074 ×2 + 27.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000305437823074[0m ×4 + 27.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000289359754663 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000289359754663[0m ×2 + 27.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693592225570 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693592225570[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431467484883 + 27.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004431467484883[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007525742032530 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007525742032530[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227268218300 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005227268218300[0m ×2 + 27.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220584380396 + 27.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005220584380396[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006934476097953 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006934476097953[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011072118877826 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011072118877826[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011335686206324 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011335686206324[0m ×2 + 27.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009503081899549 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009503081899549[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297138425135 + 27.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005297138425135[0m ×2 + 27.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393019676557 + 27.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000393019676557[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000481039746298 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000481039746298[0m ×2 + 27.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000607465603454 + 27.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000607465603454[0m ×2 + 27.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000328663526263 + 27.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000328663526263[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435849862608 + 27.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435849862608[0m ×2 + 27.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205315950005 + 27.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205315950005[0m ×2 + 27.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148347869187 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001148347869187[0m ×2 + 27.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776969623907 + 27.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001776969623907[0m ×2 + 27.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251519845463 + 27.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251519845463[0m ×2 + 27.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651399870098 + 27.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651399870098[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872348227915 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002872348227915[0m ×2 + 27.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005786266803074 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005786266803074[0m ×2 + 27.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927067399379 + 27.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927067399379[0m ×2 + 27.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006942012719380 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006942012719380[0m ×2 + 27.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415585317701 + 27.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415585317701[0m ×2 + 27.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008095383696396 + 27.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008095383696396[0m ×2 + 27.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708423794717 + 27.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006708423794717[0m ×2 + 27.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144979583424 + 27.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004144979583424[0m ×2 + 27.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715058466779 + 27.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002715058466779[0m ×2 + 27.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001316303286710 + 27.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001316303286710[0m ×2 + 27.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297065864527 + 27.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002297065864527[0m ×2 + 27.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142966954900 + 27.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001142966954900[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455108407765 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455108407765[0m ×2 + 27.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094941128923 ×2 + 27.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000094941128923[0m ×4 + 27.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067110101860 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067110101860[0m ×2 + 27.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000384479020998 + 27.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000384479020998[0m ×2 + 27.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000518963713012 + 27.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000518963713012[0m ×2 + 27.44sWARNcontroller_managerOverrun might occur, Total time : 3900.499 us (Expected < 1666.667 us) --> Read time : 176.777 us, Update time : 3104.745 us, Write time : 618.977 us + 27.44sWARNros2_control_nodeOverrun might occur, Total time : 3900.499 us (Expected < 1666.667 us) --> Read time : 176.777 us, Update time : 3104.745 us, Write time : 618.977 us[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021989541299 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021989541299[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455240717289 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455240717289[0m ×2 + 27.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009026063964370 + 27.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009026063964370[0m ×2 + 27.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043967816151 + 27.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006043967816151[0m ×2 + 27.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577231699603 + 27.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003577231699603[0m ×2 + 27.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924881090182 ×2 + 27.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924881090182[0m ×4 + 27.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882765937872 + 27.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000882765937872[0m ×2 + 27.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724201394330 + 27.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724201394330[0m ×2 + 27.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262228403306 + 27.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262228403306[0m ×2 + 27.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791408962091 + 27.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791408962091[0m ×2 + 27.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001117905211653 + 27.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001117905211653[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437819091172 + 27.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004437819091172[0m ×2 + 27.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597406526535 + 27.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004597406526535[0m ×2 + 27.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014078210185 + 27.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004014078210185[0m ×2 + 27.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437110838677 + 27.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437110838677[0m ×2 + 27.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744505747894 + 27.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000744505747894[0m ×2 + 27.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584876991290 + 27.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002584876991290[0m ×2 + 27.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899368 ms (missed cycles : 2). + 27.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899368 ms (missed cycles : 2).[0m ×2 + 27.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000494245362554 + 27.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000494245362554[0m ×2 + 27.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150024956799 + 27.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002150024956799[0m ×2 + 27.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337577289840 + 27.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337577289840[0m ×2 + 27.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400969544800 + 27.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004400969544800[0m ×2 + 27.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451197158919 + 27.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006451197158919[0m ×2 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542730571295 + 27.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542730571295[0m ×2 + 27.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385013179066 + 27.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385013179066[0m ×2 + 27.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217438310627 + 27.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003217438310627[0m ×2 + 27.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782765031752 + 27.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782765031752[0m ×2 + 27.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769421879283 + 27.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003769421879283[0m ×2 + 27.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508072345803 + 27.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004508072345803[0m ×2 + 27.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272501708952 + 27.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272501708952[0m ×2 + 27.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865245246942 + 27.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865245246942[0m ×2 + 27.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973838450522 ×2 + 27.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973838450522[0m ×4 + 27.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313104351559 + 27.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001313104351559[0m ×2 + 27.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776712694627 + 27.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000776712694627[0m ×2 + 27.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000998656420942 + 27.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000998656420942[0m ×2 + 27.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435708758759 + 27.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003435708758759[0m ×2 + 27.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192812608079 + 27.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002192812608079[0m ×2 + 27.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408762128513 + 27.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002408762128513[0m ×2 + 27.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009225237001548 + 27.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009225237001548[0m ×2 + 27.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000839134151102 + 27.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000839134151102[0m ×2 + 27.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001883038480102 + 27.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001883038480102[0m ×2 + 27.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919652404394 + 27.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000919652404394[0m ×2 + 27.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566116854833 + 27.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000566116854833[0m ×2 + 27.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000578279583022 + 27.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000578279583022[0m ×2 + 27.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001974068765446 + 27.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001974068765446[0m ×2 + 27.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001613845633752 + 27.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001613845633752[0m ×2 + 27.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646643163029 + 27.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005646643163029[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645661740045 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645661740045[0m ×2 + 27.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412787727540 + 27.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412787727540[0m ×2 + 27.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009551248769 + 27.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002009551248769[0m ×2 + 27.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001470460698685 + 27.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001470460698685[0m ×2 + 27.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463517862651 + 27.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463517862651[0m ×2 + 27.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002416652608576 + 27.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002416652608576[0m ×2 + 28.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000308495636762 + 28.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000308495636762[0m ×2 + 28.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791678688237 + 28.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001791678688237[0m ×2 + 28.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103322761897 + 28.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103322761897[0m ×2 + 28.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103142686761 + 28.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001103142686761[0m ×2 + 28.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002259168210787 + 28.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002259168210787[0m ×2 + 28.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001920408894097 + 28.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001920408894097[0m ×2 + 28.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257909165331 + 28.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257909165331[0m ×2 + 28.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585423463031 + 28.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585423463031[0m ×2 + 28.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002282035733262 + 28.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002282035733262[0m ×2 + 28.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324446853817 + 28.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001324446853817[0m ×2 + 28.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902842542331 + 28.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000902842542331[0m ×2 + 28.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001114581308206 + 28.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001114581308206[0m ×2 + 28.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045748304989 + 28.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045748304989[0m ×2 + 28.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641874644316 + 28.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641874644316[0m ×2 + 28.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843396187452 + 28.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001843396187452[0m ×2 + 28.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001359405461940 + 28.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001359405461940[0m ×2 + 28.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000907432819919 + 28.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000907432819919[0m ×2 + 28.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660802447075 + 28.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660802447075[0m ×2 + 28.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660835207103 + 28.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001660835207103[0m ×2 + 28.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013895922744 + 28.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006013895922744[0m ×2 + 28.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088747596740 + 28.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088747596740[0m ×2 + 28.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443049064681 + 28.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443049064681[0m ×2 + 28.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001082375235223 + 28.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001082375235223[0m ×2 + 28.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001607598032636 + 28.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001607598032636[0m ×2 + 28.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177658864342 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177658864342[0m ×2 + 28.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000393002549497 + 28.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000393002549497[0m ×2 + 28.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001140218699762 + 28.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001140218699762[0m ×2 + 28.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000644117302306 + 28.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000644117302306[0m ×2 + 28.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000609537370669 + 28.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000609537370669[0m ×2 + 28.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000731068525375 + 28.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000731068525375[0m ×2 + 28.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000213052647539 + 28.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000213052647539[0m ×2 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000680751382343 + 28.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000680751382343[0m ×2 + 28.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000680840943152 + 28.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000680840943152[0m ×2 + 28.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000368179915330 + 28.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000368179915330[0m ×2 + 28.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000252118686455 + 28.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000252118686455[0m ×2 + 28.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183934677143 + 28.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000183934677143[0m ×2 + 28.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067166616653 + 28.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001067166616653[0m ×2 + 28.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000790964269889 + 28.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000790964269889[0m ×2 + 28.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977469386272 + 28.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977469386272[0m ×2 + 28.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368396535641 + 28.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000368396535641[0m ×2 + 28.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000220608219688 + 28.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000220608219688[0m ×2 + 28.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000947953581709 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000947953581709[0m ×2 + 28.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000950705107206 + 28.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000950705107206[0m ×2 + 28.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000564493955681 + 28.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000564493955681[0m ×2 + 28.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000852174248971 + 28.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000852174248971[0m ×2 + 28.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000598960540370 + 28.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000598960540370[0m ×2 + 28.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000819646098531 + 28.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000819646098531[0m ×2 + 28.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590903500942 + 28.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590903500942[0m ×2 + 28.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000308212986663 + 28.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000308212986663[0m ×2 + 28.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140746436016 + 28.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140746436016[0m ×2 + 28.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000194706687134 + 28.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000194706687134[0m ×2 + 28.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038413526695 + 28.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038413526695[0m ×2 + 28.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188060437405 + 28.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000188060437405[0m ×2 + 28.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160706848962 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000160706848962[0m ×2 + 28.51sWARNcontroller_managerOverrun might occur, Total time : 1796.509 us (Expected < 1666.667 us) --> Read time : 246.351 us, Update time : 993.853 us, Write time : 556.305 us + 28.51sWARNros2_control_nodeOverrun might occur, Total time : 1796.509 us (Expected < 1666.667 us) --> Read time : 246.351 us, Update time : 993.853 us, Write time : 556.305 us[0m ×2 + 28.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216157859783 + 28.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000216157859783[0m ×2 + 28.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190039419523 + 28.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190039419523[0m ×2 + 28.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000205555270537 + 28.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000205555270537[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189062599257 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000189062599257[0m ×2 + 28.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000293636154528 + 28.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000293636154528[0m ×2 + 28.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000245768980258 + 28.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000245768980258[0m ×2 + 28.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210593747390 + 28.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210593747390[0m ×2 + 28.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098721144497 + 28.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098721144497[0m ×2 + 28.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109420313957 + 28.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109420313957[0m ×2 + 28.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140472080602 + 28.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000140472080602[0m ×2 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170444942831 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000170444942831[0m ×2 + 28.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260946887599 + 28.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260946887599[0m ×2 + 28.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000231687841483 + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.821403 ms (missed cycles : 7). + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000231687841483[0m ×2 + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.821403 ms (missed cycles : 7).[0m ×2 + 28.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000205908459475 + 28.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000205908459475[0m ×2 + 28.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125819757153 + 28.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125819757153[0m ×2 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138426031938 + 28.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138426031938[0m ×2 + 28.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144993018084 + 28.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144993018084[0m ×2 + 28.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146611265792 + 28.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146611265792[0m ×2 + 28.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145305040619 + 28.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145305040619[0m ×2 + 28.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141899205735 + 28.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000141899205735[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137406317729 + 28.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137406317729[0m ×2 + 28.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199042206353 + 28.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000199042206353[0m ×2 + 28.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167172374525 + 28.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167172374525[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144040859698 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144040859698[0m ×2 + 28.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127399052568 + 28.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127399052568[0m ×2 + 28.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115602807901 + 28.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115602807901[0m ×2 + 28.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107069779245 + 28.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107069779245[0m ×2 + 28.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100641175621 + 28.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100641175621[0m ×2 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095475817205 + 28.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095475817205[0m ×2 + 28.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137921617317 + 28.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137921617317[0m ×2 + 28.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114782301778 + 28.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000114782301778[0m ×2 + 28.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098500624294 + 28.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098500624294[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086983718422 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086983718422[0m ×2 + 28.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121565016023 + 28.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121565016023[0m ×2 + 28.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098195147751 + 28.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000098195147751[0m ×2 + 28.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082255097128 + 28.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082255097128[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035848060699 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035848060699[0m ×2 + 28.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065104136853 + 28.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065104136853[0m ×2 + 28.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062027755903 + 28.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062027755903[0m ×2 + 28.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058580458701 + 28.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000058580458701[0m ×2 + 28.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055014478080 + 28.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055014478080[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051580520206 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051580520206[0m ×2 + 28.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072437003749 + 28.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072437003749[0m ×2 + 28.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059966238236 + 28.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059966238236[0m ×2 + 28.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050896884723 + 28.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050896884723[0m ×2 + 28.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068427044831 + 28.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068427044831[0m ×2 + 28.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024675616034 + 28.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024675616034[0m ×2 + 28.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028147237130 + 28.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028147237130[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043193686983 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043193686983[0m ×2 + 28.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037927835705 + 28.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037927835705[0m ×2 + 28.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033791206557 + 28.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033791206557[0m ×2 + 29.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030507434165 + 29.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030507434165[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019468045059 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019468045059[0m ×2 + 29.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030594645651 + 29.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030594645651[0m ×2 + 29.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027256628110 + 29.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027256628110[0m ×2 + 29.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017069760539 + 29.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017069760539[0m ×2 + 29.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018165390338 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018165390338[0m ×2 + 29.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026836161626 + 29.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026836161626[0m ×2 + 29.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023208900616 + 29.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023208900616[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020369848611 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020369848611[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018198181711 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018198181711[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024967912724 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024967912724[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020308574344 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020308574344[0m ×2 + 29.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016990994700 + 29.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016990994700[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014690923359 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014690923359[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020059025017 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020059025017[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016077454883 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016077454883[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013330738151 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013330738151[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017857245500 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017857245500[0m ×2 + 29.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014010953485 + 29.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014010953485[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011422192781 + 29.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011422192781[0m ×2 + 29.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015225112207 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015225112207[0m ×2 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011833314343 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011833314343[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009579305258 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009579305258[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004148888441 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004148888441[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005230905133 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005230905133[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008116861797 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008116861797[0m ×2 + 29.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007232001346 + 29.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007232001346[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006466630923 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006466630923[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002707798491 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002707798491[0m ×2 + 29.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003695766643 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003695766643[0m ×2 + 29.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005734497776 + 29.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005734497776[0m ×2 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005202549089 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005202549089[0m ×2 + 29.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004695940147 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004695940147[0m ×2 + 29.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006294341185 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006294341185[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005119797499 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005119797499[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004247349693 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004247349693[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003626790014 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003626790014[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004875579887 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004875579887[0m ×2 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003887824790 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003887824790[0m ×2 + 29.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003203390759 + 29.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003203390759[0m ×2 + 29.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002733750621 + 29.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002733750621[0m ×2 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003741303707 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003741303707[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001133544823 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001133544823[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001523116300 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001523116300[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002389265267 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002389265267[0m ×2 + 29.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002160909135 + 29.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002160909135[0m ×2 + 29.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001950775239 + 29.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001950775239[0m ×2 + 29.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002639907254 + 29.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002639907254[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002160870287 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002160870287[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001808669685 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001808669685[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002360588128 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002360588128[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001859981191 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001859981191[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001513899728 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001513899728[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001269039790 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001269039790[0m ×2 + 29.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000753632920 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000753632920[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001191172954 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001191172954[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001039815639 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001039815639[0m ×2 + 29.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000939026567 + 29.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000939026567[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000853424258 + 29.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000853424258[0m ×2 + 29.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001185305504 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001185305504[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000976027775 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000976027775[0m ×2 + 29.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000830641214 + 29.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000830641214[0m ×2 + 29.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707423152 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000707423152[0m ×2 + 29.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000443736319 + 29.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000443736319[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000477870678 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000477870678[0m ×2 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710461080 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000710461080[0m ×2 + 29.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000614252894 + 29.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000614252894[0m ×2 + 29.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000532199254 + 29.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000532199254[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000480450641 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000480450641[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000427446083 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000427446083[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000397068806 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000397068806[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000376201687 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000376201687[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337164418 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000337164418[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000477859592 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000477859592[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000400210219 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000400210219[0m ×2 + 29.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864732 ms (missed cycles : 4). + 29.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864732 ms (missed cycles : 4).[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338157778 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338157778[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296288482 + 29.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296288482[0m ×2 + 29.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000269588864 + 29.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000269588864[0m ×2 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169147961 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169147961[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000190580759 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000190580759[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184970619 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000184970619[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000265203311 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000265203311[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242447673 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000242447673[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000192601904 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000192601904[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000271180302 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000271180302[0m ×2 + 29.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000218896730 + 29.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000218896730[0m ×2 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000173144372 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000173144372[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153581814 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000153581814[0m ×2 + 29.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000206852723 + 29.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000206852723[0m ×2 + 29.83sWARNcontroller_managerOverrun might occur, Total time : 1887.582 us (Expected < 1666.667 us) --> Read time : 1024.945 us, Update time : 256.731 us, Write time : 605.906 us + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162575902 + 29.84sWARNros2_control_nodeOverrun might occur, Total time : 1887.582 us (Expected < 1666.667 us) --> Read time : 1024.945 us, Update time : 256.731 us, Write time : 605.906 us[0m ×2 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000162575902[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000696931191 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000696931191[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000661536952 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000661536952[0m ×2 + 29.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627075644 + 29.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000627075644[0m ×2 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000590961991 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000590961991[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000568383498 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000568383498[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000122808166 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000122808166[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000593139456 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000593139456[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000549632312 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000549632312[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000487438546 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000487438546[0m ×2 + 29.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000482100267 + 29.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000482100267[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444088221 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000444088221[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000491289299 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000491289299[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000434684340 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000434684340[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000414583379 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000414583379[0m ×2 + 29.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398292460 + 29.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000398292460[0m ×2 + 29.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000419698698 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000419698698[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000221624772 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000221624772[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000215491917 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000215491917[0m ×2 + 30.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000194755622 + 30.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000194755622[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000193334788 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000193334788[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206027541 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000206027541[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000201831055 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000201831055[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000130149225 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000130149225[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136027530 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136027530[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121785900 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000121785900[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000139287061 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000139287061[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000135224079 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000135224079[0m ×2 + 30.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000120979830 + 30.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000120979830[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000159200937 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000159200937[0m ×2 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000128399025 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000128399025[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000122188755 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000122188755[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000123932635 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000123932635[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.245612 ms (missed cycles : 6). + 30.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.245612 ms (missed cycles : 6).[0m ×2 + 30.92sWARNcontroller_managerOverrun might occur, Total time : 3444.890 us (Expected < 1666.667 us) --> Read time : 408.367 us, Update time : 2363.663 us, Write time : 672.860 us + 30.92sWARNros2_control_nodeOverrun might occur, Total time : 3444.890 us (Expected < 1666.667 us) --> Read time : 408.367 us, Update time : 2363.663 us, Write time : 672.860 us[0m ×2 + 31.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627951 ms (missed cycles : 2). + 31.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.627951 ms (missed cycles : 2).[0m ×2 + 32.08sWARNcontroller_managerOverrun might occur, Total time : 7265.887 us (Expected < 1666.667 us) --> Read time : 178.748 us, Update time : 6466.042 us, Write time : 621.097 us + 32.09sWARNros2_control_nodeOverrun might occur, Total time : 7265.887 us (Expected < 1666.667 us) --> Read time : 178.748 us, Update time : 6466.042 us, Write time : 621.097 us[0m ×2 + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112358 ms (missed cycles : 2). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112358 ms (missed cycles : 2).[0m ×2 + 33.17sWARNcontroller_managerOverrun might occur, Total time : 1776.447 us (Expected < 1666.667 us) --> Read time : 1319.317 us, Update time : 66.443 us, Write time : 390.687 us + 33.17sWARNros2_control_nodeOverrun might occur, Total time : 1776.447 us (Expected < 1666.667 us) --> Read time : 1319.317 us, Update time : 66.443 us, Write time : 390.687 us[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172116 ms (missed cycles : 4). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172116 ms (missed cycles : 4).[0m ×2 + 34.19sWARNcontroller_managerOverrun might occur, Total time : 1767.037 us (Expected < 1666.667 us) --> Read time : 210.770 us, Update time : 92.034 us, Write time : 1464.233 us + 34.20sWARNros2_control_nodeOverrun might occur, Total time : 1767.037 us (Expected < 1666.667 us) --> Read time : 210.770 us, Update time : 92.034 us, Write time : 1464.233 us[0m ×2 + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942831 ms (missed cycles : 2). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942831 ms (missed cycles : 2).[0m ×2 + 35.23sWARNcontroller_managerOverrun might occur, Total time : 8878.917 us (Expected < 1666.667 us) --> Read time : 205.859 us, Update time : 8095.473 us, Write time : 577.585 us + 35.24sWARNros2_control_nodeOverrun might occur, Total time : 8878.917 us (Expected < 1666.667 us) --> Read time : 205.859 us, Update time : 8095.473 us, Write time : 577.585 us[0m ×2 + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588163 ms (missed cycles : 4). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588163 ms (missed cycles : 4).[0m ×2 + 35.98sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780602448.16475129 seconds ×3 + 36.46sWARNcontroller_managerOverrun might occur, Total time : 5512.780 us (Expected < 1666.667 us) --> Read time : 315.234 us, Update time : 4604.461 us, Write time : 593.085 us + 36.47sWARNros2_control_nodeOverrun might occur, Total time : 5512.780 us (Expected < 1666.667 us) --> Read time : 315.234 us, Update time : 4604.461 us, Write time : 593.085 us[0m ×2 + 36.63sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780602448.81848264 seconds. ×3 + 36.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 36.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 36.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011083 ms (missed cycles : 3). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011083 ms (missed cycles : 3).[0m ×2 + 37.20sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 37.20sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 37.76sINFOobjective_server_nodeFound path in 6 iterations (0.00640753 s). ×2 + 37.81sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 37.83sINFOros2_control_node[2026-06-04 19:47:30.015] [info] Received new action goal ×2 + 37.83sINFOros2_control_node[2026-06-04 19:47:30.015] [info] Accepted new action goal ×2 + 37.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077605 ms (missed cycles : 3). + 37.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077605 ms (missed cycles : 3).[0m ×2 + 38.24sWARNcontroller_managerOverrun might occur, Total time : 1786.408 us (Expected < 1666.667 us) --> Read time : 181.348 us, Update time : 60.182 us, Write time : 1544.878 us + 38.24sWARNros2_control_nodeOverrun might occur, Total time : 1786.408 us (Expected < 1666.667 us) --> Read time : 181.348 us, Update time : 60.182 us, Write time : 1544.878 us[0m ×2 + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053099 ms (missed cycles : 3). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053099 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.3s | 204 warnings · 2437 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×373 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×373 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×746 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×746 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112358 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112358 ms (missed cycles : 2).[0m ×2 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 1776.447 us (Expected < 1666.667 us) --> Read time : 1319.317 us, Update time : 66.443 us, Write time : 390.687 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 1776.447 us (Expected < 1666.667 us) --> Read time : 1319.317 us, Update time : 66.443 us, Write time : 390.687 us[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172116 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172116 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun might occur, Total time : 1767.037 us (Expected < 1666.667 us) --> Read time : 210.770 us, Update time : 92.034 us, Write time : 1464.233 us + 1.76sWARNros2_control_nodeOverrun might occur, Total time : 1767.037 us (Expected < 1666.667 us) --> Read time : 210.770 us, Update time : 92.034 us, Write time : 1464.233 us[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942831 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942831 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 8878.917 us (Expected < 1666.667 us) --> Read time : 205.859 us, Update time : 8095.473 us, Write time : 577.585 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 8878.917 us (Expected < 1666.667 us) --> Read time : 205.859 us, Update time : 8095.473 us, Write time : 577.585 us[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588163 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588163 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780602448.16475129 seconds ×3 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 5512.780 us (Expected < 1666.667 us) --> Read time : 315.234 us, Update time : 4604.461 us, Write time : 593.085 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5512.780 us (Expected < 1666.667 us) --> Read time : 315.234 us, Update time : 4604.461 us, Write time : 593.085 us[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780602448.81848264 seconds. ×3 + 4.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011083 ms (missed cycles : 3).[0m ×2 + 4.77sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.77sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! + 5.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.33sINFOobjective_server_nodeFound path in 6 iterations (0.00640753 s). ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.40sINFOros2_control_node[2026-06-04 19:47:30.015] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-06-04 19:47:30.015] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077605 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077605 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 1786.408 us (Expected < 1666.667 us) --> Read time : 181.348 us, Update time : 60.182 us, Write time : 1544.878 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 1786.408 us (Expected < 1666.667 us) --> Read time : 181.348 us, Update time : 60.182 us, Write time : 1544.878 us[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053099 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053099 ms (missed cycles : 3).[0m ×2 + 7.10sWARNcontroller_managerOverrun might occur, Total time : 4080.357 us (Expected < 1666.667 us) --> Read time : 138.806 us, Update time : 3040.732 us, Write time : 900.819 us + 7.10sWARNros2_control_nodeOverrun might occur, Total time : 4080.357 us (Expected < 1666.667 us) --> Read time : 138.806 us, Update time : 3040.732 us, Write time : 900.819 us[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598787 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598787 ms (missed cycles : 3).[0m ×2 + 8.60sWARNcontroller_managerOverrun might occur, Total time : 7688.155 us (Expected < 1666.667 us) --> Read time : 257.121 us, Update time : 6945.453 us, Write time : 485.581 us + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917561 ms (missed cycles : 5). + 8.60sWARNros2_control_nodeOverrun might occur, Total time : 7688.155 us (Expected < 1666.667 us) --> Read time : 257.121 us, Update time : 6945.453 us, Write time : 485.581 us[0m ×2 + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.917561 ms (missed cycles : 5).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.502393 ms (missed cycles : 8). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.502393 ms (missed cycles : 8).[0m ×2 + 9.88sWARNcontroller_managerOverrun might occur, Total time : 7226.766 us (Expected < 1666.667 us) --> Read time : 194.078 us, Update time : 6458.543 us, Write time : 574.145 us + 9.88sWARNros2_control_nodeOverrun might occur, Total time : 7226.766 us (Expected < 1666.667 us) --> Read time : 194.078 us, Update time : 6458.543 us, Write time : 574.145 us[0m ×2 + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675812 ms (missed cycles : 2). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675812 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun might occur, Total time : 2035.526 us (Expected < 1666.667 us) --> Read time : 309.533 us, Update time : 1311.546 us, Write time : 414.447 us + 10.91sWARNros2_control_nodeOverrun might occur, Total time : 2035.526 us (Expected < 1666.667 us) --> Read time : 309.533 us, Update time : 1311.546 us, Write time : 414.447 us[0m ×2 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192030 ms (missed cycles : 6). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.192030 ms (missed cycles : 6).[0m ×2 + 12.07sWARNcontroller_managerOverrun might occur, Total time : 2051.587 us (Expected < 1666.667 us) --> Read time : 182.148 us, Update time : 1424.700 us, Write time : 444.739 us + 12.07sWARNros2_control_nodeOverrun might occur, Total time : 2051.587 us (Expected < 1666.667 us) --> Read time : 182.148 us, Update time : 1424.700 us, Write time : 444.739 us[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226347 ms (missed cycles : 2). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226347 ms (missed cycles : 2).[0m ×2 + 13.27sWARNcontroller_managerOverrun might occur, Total time : 5381.369 us (Expected < 1666.667 us) --> Read time : 304.313 us, Update time : 4523.022 us, Write time : 554.034 us + 13.27sWARNros2_control_nodeOverrun might occur, Total time : 5381.369 us (Expected < 1666.667 us) --> Read time : 304.313 us, Update time : 4523.022 us, Write time : 554.034 us[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143830 ms (missed cycles : 3). + 13.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.143830 ms (missed cycles : 3).[0m ×2 + 14.37sWARNcontroller_managerOverrun might occur, Total time : 2864.162 us (Expected < 1666.667 us) --> Read time : 257.291 us, Update time : 1156.289 us, Write time : 1450.582 us + 14.37sWARNros2_control_nodeOverrun might occur, Total time : 2864.162 us (Expected < 1666.667 us) --> Read time : 257.291 us, Update time : 1156.289 us, Write time : 1450.582 us[0m ×2 + 14.75sINFOobjective_server_node[0;m[0;93m2026-06-04 19:47:39.365149508 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 14.75sINFOobjective_server_node[0;93m2026-06-04 19:47:39.365194990 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.111149 ms (missed cycles : 6). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.111149 ms (missed cycles : 6).[0m ×2 + 15.28sINFOobjective_server_node[0;93m2026-06-04 19:47:39.894874139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.28sINFOobjective_server_node[0;93m2026-06-04 19:47:39.894938851 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.38sWARNcontroller_managerOverrun might occur, Total time : 3849.353 us (Expected < 1666.667 us) --> Read time : 269.511 us, Update time : 3092.741 us, Write time : 487.101 us + 15.38sWARNros2_control_nodeOverrun might occur, Total time : 3849.353 us (Expected < 1666.667 us) --> Read time : 269.511 us, Update time : 3092.741 us, Write time : 487.101 us[0m ×2 + 15.40sINFOobjective_server_node[0;93m2026-06-04 19:47:40.019310739 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 15.40sINFOobjective_server_node[0;93m2026-06-04 19:47:40.021453709 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.40sINFOobjective_server_node[0;93m2026-06-04 19:47:40.021479950 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.74sINFOobjective_server_node[0;93m2026-06-04 19:47:40.360592430 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 15.77sINFOobjective_server_node[0;93m2026-06-04 19:47:40.373997248 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 15.77sINFOobjective_server_node[0;93m2026-06-04 19:47:40.374044300 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714556 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.714556 ms (missed cycles : 2).[0m ×2 + 16.61sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/masks_visualization" + 16.87sINFOfoxglove_bridgeAdvertising new channel 80 for topic "/masks_visualization"[0m ×2 + 16.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058185 ms (missed cycles : 3). + 16.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058185 ms (missed cycles : 3).[0m ×2 + 17.69sWARNcontroller_managerOverrun might occur, Total time : 3173.574 us (Expected < 1666.667 us) --> Read time : 773.652 us, Update time : 108.445 us, Write time : 2291.477 us + 17.69sWARNros2_control_nodeOverrun might occur, Total time : 3173.574 us (Expected < 1666.667 us) --> Read time : 773.652 us, Update time : 108.445 us, Write time : 2291.477 us[0m ×2 + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129958 ms (missed cycles : 2). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129958 ms (missed cycles : 2).[0m ×2 + 18.90sWARNcontroller_managerOverrun might occur, Total time : 1926.052 us (Expected < 1666.667 us) --> Read time : 211.879 us, Update time : 1136.638 us, Write time : 577.535 us + 18.90sWARNros2_control_nodeOverrun might occur, Total time : 1926.052 us (Expected < 1666.667 us) --> Read time : 211.879 us, Update time : 1136.638 us, Write time : 577.535 us[0m ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706022 ms (missed cycles : 3). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706022 ms (missed cycles : 3).[0m ×2 + 19.99sWARNcontroller_managerOverrun might occur, Total time : 3708.247 us (Expected < 1666.667 us) --> Read time : 172.287 us, Update time : 3118.442 us, Write time : 417.518 us + 19.99sWARNros2_control_nodeOverrun might occur, Total time : 3708.247 us (Expected < 1666.667 us) --> Read time : 172.287 us, Update time : 3118.442 us, Write time : 417.518 us[0m ×2 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120229 ms (missed cycles : 4). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.120229 ms (missed cycles : 4).[0m ×2 + 20.15sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.39sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution" + 20.39sINFOfoxglove_bridgeAdvertising new channel 81 for topic "/solution"[0m ×2 + 20.52sINFOobjective_server_nodeFound path in 4 iterations (0.00610248 s). ×2 + 20.59sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.62sINFOobjective_server_nodeFound path in 12 iterations (0.00391586 s). ×2 + 20.68sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.70sINFOobjective_server_nodeFound path in 1 iterations (0.00280549 s). ×2 + 20.75sINFOobjective_server_nodePath shortcutter: [X____________________________________X__________________X] ×2 + 20.77sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 20.80sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 20.81sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×4 + 20.84sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 20.87sINFOobjective_server_nodeFound path in 12 iterations (0.0058521 s). ×2 + 20.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________X_____________________X] ×2 + 20.95sINFOobjective_server_nodeFound path in 1 iterations (0.00462974 s). ×2 + 20.99sINFOobjective_server_nodePath shortcutter: [X______________________________X_____________________X] ×2 + 21.01sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931117 ms (missed cycles : 2). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931117 ms (missed cycles : 2).[0m ×2 + 21.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.07sINFOobjective_server_nodeFound path in 4 iterations (0.00520819 s). ×2 + 21.14sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.16sINFOobjective_server_nodeFound path in 4 iterations (0.00236213 s). ×2 + 21.24sWARNcontroller_managerOverrun might occur, Total time : 10566.278 us (Expected < 1666.667 us) --> Read time : 193.148 us, Update time : 9779.155 us, Write time : 593.975 us + 21.25sWARNros2_control_nodeOverrun might occur, Total time : 10566.278 us (Expected < 1666.667 us) --> Read time : 193.148 us, Update time : 9779.155 us, Write time : 593.975 us[0m ×2 + 21.25sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________X______________________X] ×2 + 21.27sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 21.32sINFOobjective_server_nodePath shortcutter: [X________________________________X_____________________________X] ×2 + 21.34sINFOobjective_server_nodeFound path in 1 iterations (0.0024506 s). ×2 + 21.41sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________X_________________________X] ×2 + 21.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.49sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 21.55sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 21.66sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________X] ×2 + 21.70sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 21.72sINFOros2_control_node[2026-06-04 19:47:46.331] [info] Received new action goal ×2 + 21.72sINFOros2_control_node[2026-06-04 19:47:46.331] [info] Accepted new action goal ×2 + 22.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176842 ms (missed cycles : 2). + 22.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176842 ms (missed cycles : 2).[0m ×2 + 22.27sWARNcontroller_managerOverrun might occur, Total time : 2119.980 us (Expected < 1666.667 us) --> Read time : 179.697 us, Update time : 1255.283 us, Write time : 685.000 us + 22.27sWARNros2_control_nodeOverrun might occur, Total time : 2119.980 us (Expected < 1666.667 us) --> Read time : 179.697 us, Update time : 1255.283 us, Write time : 685.000 us[0m ×2 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481944 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481944 ms (missed cycles : 3).[0m ×2 + 23.31sWARNcontroller_managerOverrun might occur, Total time : 8822.754 us (Expected < 1666.667 us) --> Read time : 316.864 us, Update time : 7953.947 us, Write time : 551.943 us + 23.32sWARNros2_control_nodeOverrun might occur, Total time : 8822.754 us (Expected < 1666.667 us) --> Read time : 316.864 us, Update time : 7953.947 us, Write time : 551.943 us[0m ×2 + 24.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249949 ms (missed cycles : 3). + 24.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.249949 ms (missed cycles : 3).[0m ×2 + 24.41sWARNcontroller_managerOverrun might occur, Total time : 5956.191 us (Expected < 1666.667 us) --> Read time : 5373.387 us, Update time : 74.843 us, Write time : 507.961 us + 24.41sWARNros2_control_nodeOverrun might occur, Total time : 5956.191 us (Expected < 1666.667 us) --> Read time : 5373.387 us, Update time : 74.843 us, Write time : 507.961 us[0m ×2 + 25.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.383684 ms (missed cycles : 6). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.383684 ms (missed cycles : 6).[0m ×2 + 25.53sWARNcontroller_managerOverrun might occur, Total time : 1924.802 us (Expected < 1666.667 us) --> Read time : 247.181 us, Update time : 704.450 us, Write time : 973.171 us + 25.53sWARNros2_control_nodeOverrun might occur, Total time : 1924.802 us (Expected < 1666.667 us) --> Read time : 247.181 us, Update time : 704.450 us, Write time : 973.171 us[0m ×2 + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817705 ms (missed cycles : 3). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817705 ms (missed cycles : 3).[0m ×2 + 26.58sWARNcontroller_managerOverrun might occur, Total time : 1888.300 us (Expected < 1666.667 us) --> Read time : 261.581 us, Update time : 77.753 us, Write time : 1548.966 us + 26.59sWARNros2_control_nodeOverrun might occur, Total time : 1888.300 us (Expected < 1666.667 us) --> Read time : 261.581 us, Update time : 77.753 us, Write time : 1548.966 us[0m ×2 + 26.72sINFOros2_control_node[2026-06-04 19:47:51.334] [info] Received new action goal ×2 + 26.72sINFOros2_control_node[2026-06-04 19:47:51.334] [info] Accepted new action goal ×2 + 27.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809833 ms (missed cycles : 2). + 27.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809833 ms (missed cycles : 2).[0m ×2 + 27.59sWARNcontroller_managerOverrun might occur, Total time : 1911.511 us (Expected < 1666.667 us) --> Read time : 192.659 us, Update time : 188.858 us, Write time : 1529.994 us + 27.60sWARNros2_control_nodeOverrun might occur, Total time : 1911.511 us (Expected < 1666.667 us) --> Read time : 192.659 us, Update time : 188.858 us, Write time : 1529.994 us[0m ×2 + 28.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160567 ms (missed cycles : 2). + 28.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160567 ms (missed cycles : 2).[0m ×2 + 28.29sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.30sINFOros2_control_node[2026-06-04 19:47:52.917] [info] Received new action goal ×2 + 28.30sINFOros2_control_node[2026-06-04 19:47:52.917] [info] Accepted new action goal ×2 + 28.65sWARNcontroller_managerOverrun might occur, Total time : 10146.999 us (Expected < 1666.667 us) --> Read time : 173.747 us, Update time : 53.003 us, Write time : 9920.249 us + 28.66sWARNros2_control_nodeOverrun might occur, Total time : 10146.999 us (Expected < 1666.667 us) --> Read time : 173.747 us, Update time : 53.003 us, Write time : 9920.249 us[0m ×2 + 29.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177491 ms (missed cycles : 2). + 29.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.177491 ms (missed cycles : 2).[0m ×2 + 29.53sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.57sINFOros2_control_node[2026-06-04 19:47:54.188] [info] Received new action goal ×2 + 29.57sINFOros2_control_node[2026-06-04 19:47:54.188] [info] Accepted new action goal ×2 + 29.77sWARNcontroller_managerOverrun might occur, Total time : 1695.022 us (Expected < 1666.667 us) --> Read time : 342.255 us, Update time : 434.328 us, Write time : 918.439 us + 29.77sWARNros2_control_nodeOverrun might occur, Total time : 1695.022 us (Expected < 1666.667 us) --> Read time : 342.255 us, Update time : 434.328 us, Write time : 918.439 us[0m ×2 + 30.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102430 ms (missed cycles : 7). + 30.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.102430 ms (missed cycles : 7).[0m ×2 + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2).[0m ×2 + 31.59sWARNcontroller_managerOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us + 31.59sWARNros2_control_nodeOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us[0m ×2 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5). + 32.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5).[0m ×2 + 32.68sWARNcontroller_managerOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us + 32.68sWARNros2_control_nodeOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us[0m ×2 + 33.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2). + 33.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2).[0m ×2 + 33.97sWARNcontroller_managerOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us + 33.97sWARNros2_control_nodeOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us[0m ×2 + 34.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2). + 34.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2).[0m ×2 + 34.83sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602479.44338179 seconds ×3 + 35.11sWARNcontroller_managerOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us + 35.11sWARNros2_control_nodeOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us[0m ×2 + 35.57sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 35.57sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 35.58sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602480.19582129 seconds. ×3 + 35.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3). + 35.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3).[0m ×2 + 35.80sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 35.80sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 35.81sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Received new action goal ×2 + 35.81sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Accepted new action goal ×2 + 36.08sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 36.08sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 36.08sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 36.08sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 36.31sWARNcontroller_managerOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us + 36.31sWARNros2_control_nodeOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us[0m ×2 + 36.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3). + 36.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3).[0m ×2 + 37.47sWARNcontroller_managerOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us + 37.47sWARNros2_control_nodeOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us[0m ×2 + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample | mpc_pose_tracking_static_point_cloud_avoidance_with_sphere_down_sample.xml | 20.9s | 5682 errors · 159 warnings · 6529 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×2017 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.606017664946769 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×4034 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.606017664946769[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756315 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756315[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756323 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.733216740756323[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.524863907277567 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.524863907277567[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.610140543825114 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.610140543825114[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.581582803068063 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.581582803068063[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.493191604416340 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.493191604416340[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.386930693467828 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.386930693467828[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.338615847578485 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.338615847578485[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245632780734253 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.245632780734253[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.157223671909776 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.157223671909776[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.559287218862849 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.559287218862849[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.991690184645510 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.991690184645510[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.402640559784953 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.402640559784953[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.862357038550641 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.862357038550641[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.277663864433162 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.277663864433162[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.736187277926053 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.736187277926053[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.139373166613634 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.139373166613634[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.572013981596974 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.572013981596974[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.982562090313085 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.982562090313085[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.440962932959120 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.440962932959120[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865427 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865427[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865423 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.856856892865423[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.316077025890749 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.316077025890749[0m ×2 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007582 ms (missed cycles : 5). + 0.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.007582 ms (missed cycles : 5).[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.718564768286043 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.718564768286043[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.561497574295672 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.561497574295672[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.554462583860300 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.554462583860300[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.699792894626732 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.699792894626732[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.291713064714330 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.291713064714330[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.835666577061019 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.835666577061019[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.243156113968876 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.243156113968876[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.785761626855846 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.785761626855846[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.627577958201187 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.627577958201187[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.326882404095672 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.326882404095672[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.775426489054141 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.775426489054141[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.240434251242901 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.240434251242901[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.241507659161165 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.241507659161165[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.670332344186196 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.670332344186196[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.073456364418753 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.073456364418753[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.513896215685165 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.513896215685165[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.379404689597244 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.379404689597244[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.817069927192382 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.817069927192382[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 1986.094 us (Expected < 1666.667 us) --> Read time : 243.900 us, Update time : 1139.068 us, Write time : 603.126 us + 0.47sWARNros2_control_nodeOverrun might occur, Total time : 1986.094 us (Expected < 1666.667 us) --> Read time : 243.900 us, Update time : 1139.068 us, Write time : 603.126 us[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.234229425004486 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.234229425004486[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.683624179614327 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.683624179614327[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107039246628638 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107039246628638[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107112156693876 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.107112156693876[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.546053200857131 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.546053200857131[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.980830561612851 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.980830561612851[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.390620339108160 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.390620339108160[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.687886050512461 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.687886050512461[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.964114818652433 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.964114818652433[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.554928387239947 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.554928387239947[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.128969066366786 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.128969066366786[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.960287847195207 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.960287847195207[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551164 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551164[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551172 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.579536032551172[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.894058788553291 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.894058788553291[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.617166828437492 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.617166828437492[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.028172132162729 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.028172132162729[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.724621331641104 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.724621331641104[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.198698857688041 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.198698857688041[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888104091883400 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.888104091883400[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.544240212290055 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.544240212290055[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.315380478167390 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.315380478167390[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.865902909991945 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.865902909991945[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.324262218545066 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.324262218545066[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.200248752627903 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.200248752627903[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.604175866431188 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.604175866431188[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.037622160482478 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.037622160482478[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.448570594326927 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.448570594326927[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.907001527073756 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.907001527073756[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061442 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061442[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061445 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.323259611061445[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.782143925337603 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.782143925337603[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.185407300979307 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.185407300979307[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.617500026520055 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.617500026520055[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.028045769596275 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.028045769596275[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767569 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767569[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767583 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.487121294767583[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.021314485109095 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.021314485109095[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.613808840834558 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.613808840834558[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.166978861929735 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.166978861929735[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.302697136811002 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.302697136811002[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228252 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228252[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228240 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.953691649228240[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.491944073272320 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.491944073272320[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.780308373233787 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.780308373233787[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.662118638871393 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.662118638871393[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.147114073649346 ×2 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.147114073649346[0m ×4 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.518404955562826 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.518404955562826[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.959499305003153 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.959499305003153[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.404970762742298 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.404970762742298[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.805256377987750 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.805256377987750[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841289 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841289[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841293 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.233214209841293[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.674798991966330 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.674798991966330[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.115069408161105 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.115069408161105[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.819547912318345 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.819547912318345[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.315917373973612 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.315917373973612[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.674079766079068 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.674079766079068[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.111043003436706 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.111043003436706[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900066 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900066[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900073 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -36.531546401900073[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.991419712903941 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -34.991419712903941[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.506366139299374 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.506366139299374[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.082556255780794 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.082556255780794[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.797114241201097 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.797114241201097[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.582129159385495 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.582129159385495[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.703887382774320 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.703887382774320[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.607117403086539 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.607117403086539[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987646 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987646[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987657 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.480649206987657[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.292680020308731 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.292680020308731[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.655628947840599 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.655628947840599[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.232888521447926 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.232888521447926[0m ×2 + 1.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738725 ms (missed cycles : 3). + 1.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738725 ms (missed cycles : 3).[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.666759160708786 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.666759160708786[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.095501115874438 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.095501115874438[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.504796408375261 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.504796408375261[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.962388070598484 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.962388070598484[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.377866380464912 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.377866380464912[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.835816373448026 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.835816373448026[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.671504657187171 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.671504657187171[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.082186566675443 ×2 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.082186566675443[0m ×4 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.541038722931738 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.541038722931738[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.955851078770241 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 25.955851078770241[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.415060933738648 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.415060933738648[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.250218908996352 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.250218908996352[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.660590760158108 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.660590760158108[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.118874511988587 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.118874511988587[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.534804963500505 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.534804963500505[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.993755229042570 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.993755229042570[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.513834242168258 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.513834242168258[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848781 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848781[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848774 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.092748196848774[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.639913661603579 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 31.639913661603579[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.240901102796208 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.240901102796208[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.799482364411706 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.799482364411706[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.750483213069071 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.750483213069071[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.235177761710126 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.235177761710126[0m ×2 + 1.55sWARNcontroller_managerOverrun might occur, Total time : 2619.221 us (Expected < 1666.667 us) --> Read time : 278.852 us, Update time : 789.583 us, Write time : 1550.786 us + 1.56sWARNros2_control_nodeOverrun might occur, Total time : 2619.221 us (Expected < 1666.667 us) --> Read time : 278.852 us, Update time : 789.583 us, Write time : 1550.786 us[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.063200909325208 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.063200909325208[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.964971888822247 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.964971888822247[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.402961234961563 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.402961234961563[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.809778294707698 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.809778294707698[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.237720363729558 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.237720363729558[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.691373790199185 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.691373790199185[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.113290443531289 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.113290443531289[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.535476624109187 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.535476624109187[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.964567534490484 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.964567534490484[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.413223294182689 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.413223294182689[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.836593481664842 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.836593481664842[0m ×2 + 1.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.323828585132617 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.323828585132617[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.689698772790624 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.689698772790624[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.395720553002015 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.395720553002015[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.259333050726347 ×2 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.259333050726347[0m ×4 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.746069784950549 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.746069784950549[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.112693841433050 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -35.112693841433050[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.844674168557876 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.844674168557876[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.412548581130377 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.412548581130377[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.002717372856647 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.002717372856647[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.543411517490532 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.543411517490532[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.129289898979228 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.129289898979228[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.671224903582859 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.671224903582859[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.269046308900836 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.269046308900836[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.837281315189767 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.837281315189767[0m ×2 + 1.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.031513354045088 + 1.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.031513354045088[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.446369627852114 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.446369627852114[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.905272086225487 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.905272086225487[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.307824570298400 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.307824570298400[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.740108534868366 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.740108534868366[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.150457297231759 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.150457297231759[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.608427993522460 ×2 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.608427993522460[0m ×4 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.317589507637980 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.317589507637980[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.727949209267496 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.727949209267496[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.186851426295028 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.186851426295028[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.602388014764035 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.602388014764035[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.061450301308504 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 22.061450301308504[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463849080921005 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463849080921005[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463847742287648 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.463847742287648[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.895419375142708 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.895419375142708[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.306526162589556 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.306526162589556[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.181153780202589 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.181153780202589[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.028523798120227 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.028523798120227[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.578506089962985 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.578506089962985[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.830478291841461 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.830478291841461[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279839647801607 ×2 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279839647801607[0m ×4 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553342603296358 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553342603296358[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.407865224287725 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.407865224287725[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.856202325063066 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.856202325063066[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.265512248210214 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.265512248210214[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.715724275500378 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.715724275500378[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.124846466558477 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.124846466558477[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.574651020513265 ×2 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.574651020513265[0m ×4 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.984119743614958 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.984119743614958[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.442710307056714 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.442710307056714[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.848802121388857 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.848802121388857[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.294802881969655 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.294802881969655[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.703692789713010 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.703692789713010[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.152318765318025 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.152318765318025[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747219 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747219[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747223 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.561811980747223[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.128268619484732 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -25.128268619484732[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.670388489014275 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.670388489014275[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.151675 ms (missed cycles : 12). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.151675 ms (missed cycles : 12).[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.272061355057510 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.272061355057510[0m ×2 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553908716010396 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.553908716010396[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.143804136437293 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.143804136437293[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.685229430604028 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.685229430604028[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.021728890324030 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.021728890324030[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.891169208196350 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.891169208196350[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.306011243770861 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.306011243770861[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.764237384825373 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.764237384825373[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.167132354188766 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.167132354188766[0m ×2 + 2.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.599017895761339 ×2 + 2.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.599017895761339[0m ×4 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.010034948749730 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.010034948749730[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.468403185063487 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.468403185063487[0m ×2 + 2.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.883326863347831 + 2.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.883326863347831[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.342339890356058 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.342339890356058[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.587844436160626 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 20.587844436160626[0m ×2 + 2.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.461871543916928 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.461871543916928[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.920614576589902 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.920614576589902[0m ×2 + 2.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.323665624237552 + 2.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 26.323665624237552[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.755321640726887 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.755321640726887[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.165641601502436 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.165641601502436[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.624621869391422 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.624621869391422[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.040138526504606 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.040138526504606[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.499231959441396 ×2 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.499231959441396[0m ×4 + 2.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.384534895624135 + 2.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 33.384534895624135[0m ×2 + 2.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.607921730554059 + 2.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.607921730554059[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.158255311049668 + 2.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.158255311049668[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.749082429964815 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.749082429964815[0m ×2 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453778 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453778[0m ×2 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453780 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 6.298618549453780[0m ×2 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.889698043763220 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 4.889698043763220[0m ×2 + 2.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.439975202175636 + 2.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.439975202175636[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.572285506775579 + 2.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.572285506775579[0m ×2 + 2.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.833731382248619 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.833731382248619[0m ×2 + 2.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279491385823299 + 2.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.279491385823299[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.688214101826804 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.688214101826804[0m ×2 + 2.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.546148690155420 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.546148690155420[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.996488081245396 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.996488081245396[0m ×2 + 2.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.405625541831336 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.405625541831336[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.855528374065788 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.855528374065788[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.264984878653669 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.264984878653669[0m ×2 + 2.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.723701135378569 + 2.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -13.723701135378569[0m ×2 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.129674067568358 + 2.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.129674067568358[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.575734046906110 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.575734046906110[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.842738904182980 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.842738904182980[0m ×2 + 2.89sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×4 + 2.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 3969.359 us (Expected < 1666.667 us) --> Read time : 171.648 us, Update time : 3267.198 us, Write time : 530.513 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 3969.359 us (Expected < 1666.667 us) --> Read time : 171.648 us, Update time : 3267.198 us, Write time : 530.513 us[0m ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824715 ms (missed cycles : 4). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.824715 ms (missed cycles : 4).[0m ×2 + 3.54sERRORobjective_server_nodeMPCSphereClearance Error: Failed to set MuJoCo data from the planning scene due to constraint failing converge. This could be caused by setting a joint limit our of bounds or the model being in collision. ×3 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602394.81729102 seconds ×3 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.14sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602395.40874839 seconds. ×3 + 4.20sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×6 + 4.21sWARNcontroller_managerOverrun might occur, Total time : 2058.898 us (Expected < 1666.667 us) --> Read time : 288.423 us, Update time : 831.225 us, Write time : 939.250 us + 4.21sWARNros2_control_nodeOverrun might occur, Total time : 2058.898 us (Expected < 1666.667 us) --> Read time : 288.423 us, Update time : 831.225 us, Write time : 939.250 us[0m ×2 + 4.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.21sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.21sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.21sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.21sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.21sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.21sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.30sINFOros2_control_node[2026-06-04 19:46:35.572] [info] Received new action goal ×2 + 4.30sINFOros2_control_node[2026-06-04 19:46:35.572] [info] Accepted new action goal ×2 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749152 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749152 ms (missed cycles : 2).[0m ×2 + 4.43sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 4.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 4.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964111 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964111 ms (missed cycles : 2).[0m ×2 + 5.45sWARNcontroller_managerOverrun might occur, Total time : 2118.920 us (Expected < 1666.667 us) --> Read time : 1524.795 us, Update time : 67.053 us, Write time : 527.072 us + 5.45sWARNros2_control_nodeOverrun might occur, Total time : 2118.920 us (Expected < 1666.667 us) --> Read time : 1524.795 us, Update time : 67.053 us, Write time : 527.072 us[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451430 ms (missed cycles : 4). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451430 ms (missed cycles : 4).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 5438.661 us (Expected < 1666.667 us) --> Read time : 203.818 us, Update time : 4736.811 us, Write time : 498.032 us + 6.50sWARNros2_control_nodeOverrun might occur, Total time : 5438.661 us (Expected < 1666.667 us) --> Read time : 203.818 us, Update time : 4736.811 us, Write time : 498.032 us[0m ×2 + 7.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000922222868 + 7.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000922222868[0m ×2 + 7.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000887574541 + 7.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000887574541[0m ×2 + 7.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000300013840 + 7.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000300013840[0m ×2 + 7.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041380942102 + 7.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041380942102[0m ×2 + 7.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590025455736 + 7.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590025455736[0m ×2 + 7.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.316340 ms (missed cycles : 11). + 7.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.316340 ms (missed cycles : 11).[0m ×2 + 7.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843371081875 + 7.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000843371081875[0m ×2 + 7.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000208109423546 + 7.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000208109423546[0m ×2 + 7.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041533436906 + 7.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041533436906[0m ×2 + 7.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086422124624 ×2 + 7.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000086422124624[0m ×4 + 7.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101687918431 + 7.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101687918431[0m ×2 + 7.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000344275132462 + 7.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000344275132462[0m ×2 + 7.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290055416295 + 7.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000290055416295[0m ×2 + 7.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184356388366 + 7.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000184356388366[0m ×2 + 7.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312946405048 + 7.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312946405048[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000353985318134 + 7.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000353985318134[0m ×2 + 7.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319248446742 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000319248446742[0m ×2 + 7.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000469017658640 + 7.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000469017658640[0m ×2 + 7.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000688934758703 + 7.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000688934758703[0m ×2 + 7.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000818144080687 + 7.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000818144080687[0m ×2 + 7.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071834883831 + 7.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071834883831[0m ×2 + 7.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074822982450 + 7.53sWARNcontroller_managerOverrun might occur, Total time : 2672.593 us (Expected < 1666.667 us) --> Read time : 336.514 us, Update time : 93.344 us, Write time : 2242.735 us + 7.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074822982450[0m ×2 + 7.53sWARNros2_control_nodeOverrun might occur, Total time : 2672.593 us (Expected < 1666.667 us) --> Read time : 336.514 us, Update time : 93.344 us, Write time : 2242.735 us[0m ×2 + 7.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000508406876413 + 7.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000508406876413[0m ×2 + 7.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039034977049 + 7.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039034977049[0m ×2 + 7.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274685558224 + 7.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000274685558224[0m ×2 + 7.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007911638026 + 7.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007911638026[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000391316313554 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000391316313554[0m ×2 + 7.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000415685835187 + 7.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000415685835187[0m ×2 + 7.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000180207999969 + 7.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000180207999969[0m ×2 + 7.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701027740485 + 7.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701027740485[0m ×2 + 7.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768716412314 + 7.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000768716412314[0m ×2 + 7.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000367555508011 + 7.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000367555508011[0m ×2 + 7.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000368162597910 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000368162597910[0m ×2 + 7.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077601745113 + 7.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077601745113[0m ×2 + 7.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051708817101 + 7.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051708817101[0m ×2 + 7.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000238282900547 + 7.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000238282900547[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209688535299 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000209688535299[0m ×2 + 7.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268659608496 + 7.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268659608496[0m ×2 + 7.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206658636984 + 7.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000206658636984[0m ×2 + 7.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000151904770632 + 7.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000151904770632[0m ×2 + 7.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106853023974 + 7.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106853023974[0m ×2 + 7.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001034935147255 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001034935147255[0m ×2 + 7.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000653510036476 + 7.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000653510036476[0m ×2 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030077756749 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030077756749[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042669062232 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042669062232[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075791296892 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000075791296892[0m ×2 + 7.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018301071189 + 7.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018301071189[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031884397450 + 7.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031884397450[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034883990041 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000034883990041[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729909127792 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000729909127792[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000786760603479 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000786760603479[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000244914622370 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000244914622370[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000507532644700 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000507532644700[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656906695051 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656906695051[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191487083763 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000191487083763[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162850422584 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162850422584[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033842200326 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033842200326[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037820267608 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037820267608[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127155373747 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127155373747[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068913041394 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000068913041394[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055137934366 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000055137934366[0m ×2 + 7.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636341163560 + 7.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000636341163560[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001066578204442 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001066578204442[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001290451682913 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001290451682913[0m ×2 + 7.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001250938734488 + 7.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001250938734488[0m ×2 + 8.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356035754719 + 8.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356035754719[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701306950912 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000701306950912[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001016572966878 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001016572966878[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124433329346 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001124433329346[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009925122962 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001009925122962[0m ×2 + 8.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185127759387 + 8.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185127759387[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400338991328 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400338991328[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392696823049 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392696823049[0m ×2 + 8.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358216250209 + 8.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001358216250209[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311247556160 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001311247556160[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294737823264 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001294737823264[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001270143254840 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001270143254840[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487303102870 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001487303102870[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001374811265089 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001374811265089[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304488175320 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304488175320[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000785295426466 + 8.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000785295426466[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000983319669639 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000983319669639[0m ×2 + 8.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001390267395818 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001390267395818[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001359718485887 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001359718485887[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001331884436564 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001331884436564[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840653477433 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000840653477433[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251536801874 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001251536801874[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284809067560 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284809067560[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296128873323 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001296128873323[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001307771540251 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001307771540251[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312888799387 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001312888799387[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001434517496352 + 8.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001434517496352[0m ×2 + 8.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386407273020 + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001386407273020[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353533019731 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001353533019731[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000857938513229 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000857938513229[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064379547030 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001064379547030[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202807144036 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001202807144036[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623567004463 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623567004463[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542953743249 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001542953743249[0m ×2 + 8.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001481234128042 + 8.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001481234128042[0m ×2 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001436494626810 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001436494626810[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404862880753 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001404862880753[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472222490475 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001472222490475[0m ×2 + 8.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424570293501 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424570293501[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394457529964 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394457529964[0m ×2 + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460130 ms (missed cycles : 5). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.460130 ms (missed cycles : 5).[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377472209423 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001377472209423[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370292942761 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001370292942761[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000637982113241 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000637982113241[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069327029641 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001069327029641[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939590480612 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001939590480612[0m ×2 + 8.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789157444589 + 8.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789157444589[0m ×2 + 8.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670809537970 + 8.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001670809537970[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583014394021 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583014394021[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710491622566 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710491622566[0m ×2 + 8.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598550125009 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001598550125009[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001523684954111 + 8.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001523684954111[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477122159031 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001477122159031[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001451151255391 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001451151255391[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439471967124 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001439471967124[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568384208209 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001568384208209[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515209690748 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515209690748[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483836275331 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001483836275331[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467963643573 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467963643573[0m ×2 + 8.55sWARNcontroller_managerOverrun might occur, Total time : 2174.432 us (Expected < 1666.667 us) --> Read time : 791.393 us, Update time : 282.682 us, Write time : 1100.357 us + 8.55sWARNros2_control_nodeOverrun might occur, Total time : 2174.432 us (Expected < 1666.667 us) --> Read time : 791.393 us, Update time : 282.682 us, Write time : 1100.357 us[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000696503840380 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000696503840380[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071203270166 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071203270166[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012416800053 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002012416800053[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884865725380 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884865725380[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778397874708 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778397874708[0m ×2 + 8.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695381416768 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001695381416768[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000778595130113 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000778595130113[0m ×2 + 8.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134574332552 + 8.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001134574332552[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072936533831 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072936533831[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079094738089 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079094738089[0m ×2 + 8.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938383830161 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001938383830161[0m ×2 + 8.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823637022027 + 8.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001823637022027[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735774180706 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735774180706[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672289964871 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001672289964871[0m ×2 + 8.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919252536234 + 8.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001919252536234[0m ×2 + 8.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779475925426 + 8.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001779475925426[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685905789758 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001685905789758[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001627322467878 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001627322467878[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594017498857 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594017498857[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001578138551124 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001578138551124[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573671487578 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001573671487578[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001576224565733 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001576224565733[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826476526775 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001826476526775[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735370600856 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735370600856[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676660409223 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001676660409223[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641829158216 + 8.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001641829158216[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893491173587 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001893491173587[0m ×2 + 8.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837877349042 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000837877349042[0m ×2 + 8.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929170425861 + 8.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929170425861[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880114564546 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880114564546[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830277951481 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830277951481[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786166197155 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001786166197155[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256288308470 + 8.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256288308470[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002038017273944 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002038017273944[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885612309401 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885612309401[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784780653754 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784780653754[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040578751984 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002040578751984[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982175161451 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001982175161451[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001866912146063 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001866912146063[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789840269830 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789840269830[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741591622695 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001741591622695[0m ×2 + 8.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218161547647 + 8.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218161547647[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006170289958 + 8.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002006170289958[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001866090619241 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001866090619241[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001607212000371 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001607212000371[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453894872388 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453894872388[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250254696596 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002250254696596[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391854692659 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391854692659[0m ×2 + 9.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161093600301 + 9.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161093600301[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997700322660 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001997700322660[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887609450044 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001887609450044[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373486891297 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002373486891297[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002115906158171 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002115906158171[0m ×2 + 9.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001945436996052 + 9.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001945436996052[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839172660030 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839172660030[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778139180422 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778139180422[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266999415149 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266999415149[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047698720292 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002047698720292[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906309844662 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001906309844662[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821037797297 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001821037797297[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086685947559 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002086685947559[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937559210681 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001937559210681[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845532676164 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001845532676164[0m ×2 + 9.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111814699498 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111814699498[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073182935242 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073182935242[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735778343482 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001735778343482[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814128548680 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001814128548680[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634788946105 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634788946105[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362249555061 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002362249555061[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820751072421 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001820751072421[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641531015483 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002641531015483[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358251108353 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002358251108353[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152344746558 + 9.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002152344746558[0m ×2 + 9.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649476113628 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002649476113628[0m ×2 + 9.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002315072202243 + 9.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002315072202243[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088515119701 + 9.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002088515119701[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942895192890 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001942895192890[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440824021579 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440824021579[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161567698472 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002161567698472[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981469080823 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001981469080823[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872575498259 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001872575498259[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175182 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175182 ms (missed cycles : 2).[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002593873160210 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002593873160210[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807171130771 + 9.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001807171130771[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618058996000 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618058996000[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331874307803 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331874307803[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130039664609 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002130039664609[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629612482403 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002629612482403[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301552095861 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301552095861[0m ×2 + 9.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002082004752494 + 9.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002082004752494[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725840934191 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002725840934191[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749034260675 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749034260675[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356773299190 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002356773299190[0m ×2 + 9.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098823114183 + 9.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002098823114183[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369348705569 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369348705569[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738225622919 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001738225622919[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884727483691 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001884727483691[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670219980090 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002670219980090[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365717760307 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365717760307[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865713769702 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002865713769702[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459715249347 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002459715249347[0m ×2 + 9.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183417782981 + 9.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183417782981[0m ×2 + 9.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787955553012 + 9.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002787955553012[0m ×2 + 9.57sWARNcontroller_managerOverrun might occur, Total time : 2168.702 us (Expected < 1666.667 us) --> Read time : 227.159 us, Update time : 1282.545 us, Write time : 658.998 us + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830822619771 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002830822619771[0m ×2 + 9.57sWARNros2_control_nodeOverrun might occur, Total time : 2168.702 us (Expected < 1666.667 us) --> Read time : 227.159 us, Update time : 1282.545 us, Write time : 658.998 us[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841360587812 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001841360587812[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111964891903 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002111964891903[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797666058663 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797666058663[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428863063960 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002428863063960[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002223443027269 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002223443027269[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848297290747 + 9.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848297290747[0m ×2 + 9.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118538515400 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003118538515400[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609847669948 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609847669948[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264809130738 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264809130738[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824506376575 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002824506376575[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002389827563010 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002389827563010[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107796520465 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002107796520465[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717255709926 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002717255709926[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279790249241 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002279790249241[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852530665967 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002852530665967[0m ×2 + 9.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931494767231 + 9.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931494767231[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471749508355 + 9.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002471749508355[0m ×2 + 9.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168096700911 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168096700911[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758702309737 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758702309737[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002349657944074 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002349657944074[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618997097833 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618997097833[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251975971755 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002251975971755[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800132060805 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002800132060805[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365704649587 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002365704649587[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634752102768 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634752102768[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226499311763 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002226499311763[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126301106808 + 9.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126301106808[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783445225083 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002783445225083[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185229053355 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003185229053355[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263851134172 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003263851134172[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682609138694 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682609138694[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293107517019 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002293107517019[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822275031568 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002822275031568[0m ×2 + 9.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377917773693 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002377917773693[0m ×2 + 9.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873350753828 + 9.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873350753828[0m ×2 + 9.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398925977163 + 9.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398925977163[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002125978551076 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002125978551076[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620998013721 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002620998013721[0m ×2 + 9.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054578170773 + 9.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054578170773[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536996197225 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002536996197225[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971530651882 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002971530651882[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049848845416 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003049848845416[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375318958127 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002375318958127[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740001933763 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740001933763[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572322911676 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572322911676[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086624252013 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086624252013[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380426505820 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380426505820[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647135070331 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003647135070331[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002921265955062 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002921265955062[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811543389500 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001811543389500[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583809924025 + 10.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002583809924025[0m ×2 + 10.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003065912541048 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003065912541048[0m ×2 + 10.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345513431583 + 10.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003345513431583[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490246114593 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003490246114593[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780064369723 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002780064369723[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003271356931261 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003271356931261[0m ×2 + 10.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617834806673 + 10.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617834806673[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968465728819 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968465728819[0m ×2 + 10.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002423670219945 + 10.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002423670219945[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851630991054 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002851630991054[0m ×2 + 10.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128871158196 + 10.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003128871158196[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530034534860 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002530034534860[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020193902688 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003020193902688[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453506474121 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453506474121[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866291402064 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002866291402064[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003134529034691 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003134529034691[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531940366904 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002531940366904[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021373032061 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021373032061[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453278529497 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453278529497[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002864542345169 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002864542345169[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262586278584 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002262586278584[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183979391770 + 10.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002183979391770[0m ×2 + 10.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709045366732 + 10.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002709045366732[0m ×2 + 10.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310740310010 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003310740310010[0m ×2 + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699708084296 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699708084296[0m ×2 + 10.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913985724190 + 10.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913985724190[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986461784531 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986461784531[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033129497323 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004033129497323[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152437249507 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152437249507[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433471559251 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003433471559251[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593719639216 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003593719639216[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835903717097 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002835903717097[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207985001359 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003207985001359[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452338592314 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452338592314[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604026894086 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003604026894086[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689963833385 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689963833385[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894907605623 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002894907605623[0m ×2 + 10.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.901031 ms (missed cycles : 6). + 10.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.901031 ms (missed cycles : 6).[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002324807770738 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002324807770738[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218438718753 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218438718753[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266980750634 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002266980750634[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022171692162 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022171692162[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023503683651 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023503683651[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101384976127 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004101384976127[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093397246715 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093397246715[0m ×2 + 10.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042245367454 + 10.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042245367454[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335270437834 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335270437834[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156032255572 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004156032255572[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162413638069 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162413638069[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374723673057 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003374723673057[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518205138598 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003518205138598[0m ×2 + 10.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811044486229 + 10.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003811044486229[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791750908298 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791750908298[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770416789089 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003770416789089[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750632143547 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750632143547[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764216008836 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764216008836[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895157879643 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895157879643[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201894350999 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201894350999[0m ×2 + 10.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414361561889 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003414361561889[0m ×2 + 10.62sWARNcontroller_managerOverrun might occur, Total time : 1806.585 us (Expected < 1666.667 us) --> Read time : 586.734 us, Update time : 667.418 us, Write time : 552.433 us + 10.62sWARNros2_control_nodeOverrun might occur, Total time : 1806.585 us (Expected < 1666.667 us) --> Read time : 586.734 us, Update time : 667.418 us, Write time : 552.433 us[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954885184508 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003954885184508[0m ×2 + 10.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994782670504 + 10.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001994782670504[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002133549813346 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002133549813346[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132081255710 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132081255710[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079291314816 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002079291314816[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296499784242 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002296499784242[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074226858807 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074226858807[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538419252582 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538419252582[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789638116598 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789638116598[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903458575333 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003903458575333[0m ×2 + 10.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900384061391 + 10.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004900384061391[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551091178082 + 10.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004551091178082[0m ×2 + 10.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272203601236 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004272203601236[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061062907857 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061062907857[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600109983326 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600109983326[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242412738544 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004242412738544[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995314337434 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995314337434[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833111485426 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833111485426[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097472838633 + 10.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004097472838633[0m ×2 + 10.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283072613583 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283072613583[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104918672793 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004104918672793[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966691441596 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966691441596[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864250133602 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864250133602[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791567062426 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003791567062426[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329089642436 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004329089642436[0m ×2 + 10.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074998185530 + 10.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004074998185530[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900937537763 + 10.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900937537763[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787414325661 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003787414325661[0m ×2 + 10.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324418424358 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004324418424358[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050107285879 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050107285879[0m ×2 + 10.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868507380416 + 10.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868507380416[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107627817147 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004107627817147[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966434263872 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003966434263872[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502564389157 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502564389157[0m ×2 + 10.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194107646129 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004194107646129[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978279749374 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978279749374[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833937294916 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833937294916[0m ×2 + 10.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369466990022 + 10.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369466990022[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073882097259 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004073882097259[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877715236660 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003877715236660[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099909380760 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004099909380760[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955647626052 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003955647626052[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943323076893 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943323076893[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461351957175 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004461351957175[0m ×2 + 11.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318366501477 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004318366501477[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071065938676 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004071065938676[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898546487711 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003898546487711[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884036199821 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004884036199821[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393643052322 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004393643052322[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059752901573 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004059752901573[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843390354315 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003843390354315[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711470075864 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003711470075864[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178201697867 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178201697867[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549846087155 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004549846087155[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174344689606 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004174344689606[0m ×2 + 11.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922766455568 + 11.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922766455568[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298863877541 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005298863877541[0m ×2 + 11.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005454132970302 + 11.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005454132970302[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714515485194 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714515485194[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214648762859 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004214648762859[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893564953748 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003893564953748[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871521303271 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871521303271[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305590407634 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004305590407634[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940065824444 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003940065824444[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247791401165 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005247791401165[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561525352551 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561525352551[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133092032391 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133092032391[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637982284614 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005637982284614[0m ×2 + 11.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810561368461 + 11.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810561368461[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683890847781 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683890847781[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749229391775 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749229391775[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125828749844 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125828749844[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182114017892 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182114017892[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452979825761 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005452979825761[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567551496896 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004567551496896[0m ×2 + 11.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990112329045 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990112329045[0m ×2 + 11.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082879988773 + 11.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082879988773[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332101802883 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004332101802883[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295541765053 + 11.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295541765053[0m ×2 + 11.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374620274238 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374620274238[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504647225546 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004504647225546[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959052 ms (missed cycles : 3). + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941459272171 + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.959052 ms (missed cycles : 3).[0m ×2 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003941459272171[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801971988189 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003801971988189[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236261154957 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236261154957[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866741127896 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866741127896[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792965008331 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005792965008331[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435316555447 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006435316555447[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759328342448 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006759328342448[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896171219142 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896171219142[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164155545375 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004164155545375[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254823958641 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005254823958641[0m ×2 + 11.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925603060172 + 11.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005925603060172[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006304234912294 + 11.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006304234912294[0m ×2 + 11.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006448593636345 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006448593636345[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109458742719 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005109458742719[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005648306760029 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005648306760029[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556949275148 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556949275148[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281622230907 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005281622230907[0m ×2 + 11.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746863847838 + 11.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005746863847838[0m ×2 + 11.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612236241751 + 11.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004612236241751[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302428415689 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005302428415689[0m ×2 + 11.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745101447543 + 11.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745101447543[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601797173591 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004601797173591[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499908154685 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499908154685[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430724832314 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430724832314[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165151235821 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165151235821[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006060555225390 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006060555225390[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793316177809 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793316177809[0m ×2 + 11.71sWARNcontroller_managerOverrun might occur, Total time : 1744.894 us (Expected < 1666.667 us) --> Read time : 417.008 us, Update time : 110.365 us, Write time : 1217.521 us + 11.71sWARNros2_control_nodeOverrun might occur, Total time : 1744.894 us (Expected < 1666.667 us) --> Read time : 417.008 us, Update time : 110.365 us, Write time : 1217.521 us[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379614548208 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005379614548208[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135184231264 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003135184231264[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531690995231 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004531690995231[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413141359530 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413141359530[0m ×2 + 11.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007053143583582 + 11.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007053143583582[0m ×2 + 11.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006941937340063 + 11.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006941937340063[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006772713619540 + 11.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006772713619540[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006590463292732 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006590463292732[0m ×2 + 11.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006730131337910 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006730131337910[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126515636038 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005126515636038[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470644834734 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005470644834734[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979631665226 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003979631665226[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851910479500 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004851910479500[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466798597244 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006466798597244[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410698984122 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006410698984122[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006317470539325 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006317470539325[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006787616538074 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006787616538074[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006503419216232 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006503419216232[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121268308868 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003121268308868[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342867446782 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342867446782[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689603303159 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003689603303159[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668907011849 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004668907011849[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006197511036349 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006197511036349[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008606989970126 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008606989970126[0m ×2 + 11.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007627480859688 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007627480859688[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006886526569705 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006886526569705[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007330415397040 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007330415397040[0m ×2 + 11.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006623824730099 + 11.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006623824730099[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132659223172 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132659223172[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806363669930 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005806363669930[0m ×2 + 11.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006621233628524 + 11.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006621233628524[0m ×2 + 11.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103516014396 + 11.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006103516014396[0m ×2 + 12.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764222143096 + 12.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005764222143096[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553471175949 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553471175949[0m ×2 + 12.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362457129020 + 12.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006362457129020[0m ×2 + 12.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005930232047678 + 12.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005930232047678[0m ×2 + 12.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649567310521 + 12.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649567310521[0m ×2 + 12.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485759444474 + 12.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005485759444474[0m ×2 + 12.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374500589461 + 12.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005374500589461[0m ×2 + 12.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906623202795 + 12.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004906623202795[0m ×2 + 12.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007504820808944 + 12.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007504820808944[0m ×2 + 12.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798648446497 + 12.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006798648446497[0m ×2 + 12.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266965662312 + 12.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005266965662312[0m ×2 + 12.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053729835280 + 12.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006053729835280[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008134747597578 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008134747597578[0m ×2 + 12.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008907540743219 + 12.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008907540743219[0m ×2 + 12.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007578616290680 + 12.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007578616290680[0m ×2 + 12.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008842776459326 + 12.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008842776459326[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007316630508242 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007316630508242[0m ×2 + 12.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008080832749556 + 12.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008080832749556[0m ×2 + 12.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006745042244090 + 12.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006745042244090[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863075531103 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005863075531103[0m ×2 + 12.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007265693056716 + 12.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007265693056716[0m ×2 + 12.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175543987535 + 12.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006175543987535[0m ×2 + 12.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480274588754 + 12.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005480274588754[0m ×2 + 12.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007244567738368 + 12.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007244567738368[0m ×2 + 12.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779218813409 + 12.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004779218813409[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484626727429 + 12.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005484626727429[0m ×2 + 12.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006225121750054 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006225121750054[0m ×2 + 12.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007952454649540 + 12.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007952454649540[0m ×2 + 12.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008933734331268 + 12.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008933734331268[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009411334532865 + 12.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009411334532865[0m ×2 + 12.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009473684411324 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009473684411324[0m ×2 + 12.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007503307318696 + 12.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007503307318696[0m ×2 + 12.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008267422315815 + 12.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008267422315815[0m ×2 + 12.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006607152922784 + 12.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006607152922784[0m ×2 + 12.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007604646142150 + 12.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007604646142150[0m ×2 + 12.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797312605429 + 12.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797312605429[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007156024829601 + 12.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007156024829601[0m ×2 + 12.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008454475258874 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008454475258874[0m ×2 + 12.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008779037124935 + 12.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008779037124935[0m ×2 + 12.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867741451302 + 12.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006867741451302[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007623946795388 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007623946795388[0m ×2 + 12.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008313794171589 + 12.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008313794171589[0m ×2 + 12.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006497529735926 + 12.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006497529735926[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414665 ms (missed cycles : 5). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.414665 ms (missed cycles : 5).[0m ×2 + 12.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007314916385786 + 12.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007314916385786[0m ×2 + 12.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466269769814 + 12.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005466269769814[0m ×2 + 12.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752856600714 + 12.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006752856600714[0m ×2 + 12.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545733429785 + 12.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545733429785[0m ×2 + 12.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009828645721669 + 12.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009828645721669[0m ×2 + 12.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400119928077 + 12.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006400119928077[0m ×2 + 12.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180078957218 + 12.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007180078957218[0m ×2 + 12.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007637545314161 + 12.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007637545314161[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007869876740987 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007869876740987[0m ×2 + 12.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010084295248681 + 12.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010084295248681[0m ×2 + 12.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009301169638367 + 12.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009301169638367[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008686842505059 + 12.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008686842505059[0m ×2 + 12.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008221742944955 + 12.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008221742944955[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007879565255054 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007879565255054[0m ×2 + 12.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403101546068 + 12.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008403101546068[0m ×2 + 12.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008045209326361 + 12.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008045209326361[0m ×2 + 12.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007755239376397 + 12.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007755239376397[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007526120597968 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007526120597968[0m ×2 + 12.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009602104961741 + 12.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009602104961741[0m ×2 + 12.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008609510785931 + 12.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008609510785931[0m ×2 + 12.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007903665578042 + 12.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007903665578042[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007419085251384 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007419085251384[0m ×2 + 12.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009444522882336 + 12.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009444522882336[0m ×2 + 12.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008327781124759 + 12.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008327781124759[0m ×2 + 12.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007566846620149 + 12.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007566846620149[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009556730666777 + 12.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009556730666777[0m ×2 + 12.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006535601105668 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006535601105668[0m ×2 + 12.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009713758928094 + 12.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009713758928094[0m ×2 + 12.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011576875965126 + 12.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011576875965126[0m ×2 + 12.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009543198082369 + 12.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009543198082369[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011082844518680 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011082844518680[0m ×2 + 12.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011243307258928 + 12.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011243307258928[0m ×2 + 12.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009062618506048 + 12.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009062618506048[0m ×2 + 12.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010500765744659 + 12.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010500765744659[0m ×2 + 12.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008426931014773 + 12.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008426931014773[0m ×2 + 12.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009410539037853 + 12.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009410539037853[0m ×2 + 12.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007376270999403 + 12.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007376270999403[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010681699002750 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010681699002750[0m ×2 + 12.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011310665296014 + 12.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011310665296014[0m ×2 + 12.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008789669270083 + 12.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008789669270083[0m ×2 + 12.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009854708665462 + 12.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009854708665462[0m ×2 + 12.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010784976990179 + 12.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010784976990179[0m ×2 + 12.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008316426186868 + 12.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008316426186868[0m ×2 + 12.85sWARNcontroller_managerOverrun might occur, Total time : 2373.520 us (Expected < 1666.667 us) --> Read time : 433.808 us, Update time : 91.093 us, Write time : 1848.619 us + 12.85sWARNros2_control_nodeOverrun might occur, Total time : 2373.520 us (Expected < 1666.667 us) --> Read time : 433.808 us, Update time : 91.093 us, Write time : 1848.619 us[0m ×2 + 12.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006516714352181 + 12.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006516714352181[0m ×2 + 12.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132737346871 + 12.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132737346871[0m ×2 + 12.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229719936903 + 12.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006229719936903[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008455318291991 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008455318291991[0m ×2 + 12.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011434771226902 + 12.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011434771226902[0m ×2 + 12.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016142283053655 + 12.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016142283053655[0m ×2 + 12.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014072011644092 + 12.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014072011644092[0m ×2 + 12.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009833951564557 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009833951564557[0m ×2 + 12.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014148823270839 + 12.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014148823270839[0m ×2 + 12.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012257699379713 + 12.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012257699379713[0m ×2 + 12.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010833236477206 + 12.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010833236477206[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009796406974339 + 12.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009796406974339[0m ×2 + 12.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012396407191633 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012396407191633[0m ×2 + 13.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010618909121281 + 13.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010618909121281[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009387185359961 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009387185359961[0m ×2 + 13.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012485121743693 + 13.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012485121743693[0m ×2 + 13.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010379877428701 + 13.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010379877428701[0m ×2 + 13.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012725355306065 + 13.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012725355306065[0m ×2 + 13.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010285306285104 + 13.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010285306285104[0m ×2 + 13.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012285559948069 + 13.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012285559948069[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009797866909988 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009797866909988[0m ×2 + 13.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012030212292501 + 13.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012030212292501[0m ×2 + 13.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009503085142117 + 13.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009503085142117[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011279362335656 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011279362335656[0m ×2 + 13.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013411779183239 + 13.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013411779183239[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010184576320573 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010184576320573[0m ×2 + 13.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765828471083 + 13.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765828471083[0m ×2 + 13.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014877905835307 + 13.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014877905835307[0m ×2 + 13.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019961524169276 + 13.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019961524169276[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014014067470620 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014014067470620[0m ×2 + 13.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015842711009270 + 13.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015842711009270[0m ×2 + 13.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013875632290231 + 13.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013875632290231[0m ×2 + 13.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012347184462723 + 13.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012347184462723[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011191119363528 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011191119363528[0m ×2 + 13.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014290475969798 + 13.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014290475969798[0m ×2 + 13.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012150678077686 + 13.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012150678077686[0m ×2 + 13.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015272165631970 + 13.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015272165631970[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011603475497848 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011603475497848[0m ×2 + 13.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016613095021230 + 13.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016613095021230[0m ×2 + 13.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012870362647710 + 13.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012870362647710[0m ×2 + 13.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014311699016548 + 13.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014311699016548[0m ×2 + 13.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014794173978280 + 13.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014794173978280[0m ×2 + 13.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016069564410892 + 13.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016069564410892[0m ×2 + 13.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015384369315522 + 13.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015384369315522[0m ×2 + 13.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012650210542414 + 13.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012650210542414[0m ×2 + 13.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018623926990887 + 13.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018623926990887[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015249321321885 + 13.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015249321321885[0m ×2 + 13.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018447404413130 + 13.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018447404413130[0m ×2 + 13.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019744764656674 + 13.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019744764656674[0m ×2 + 13.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019492206636245 + 13.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019492206636245[0m ×2 + 13.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018362789868047 + 13.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018362789868047[0m ×2 + 13.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016819758087972 + 13.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016819758087972[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019097744857532 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019097744857532[0m ×2 + 13.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016417204450901 + 13.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016417204450901[0m ×2 + 13.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014135302044338 + 13.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014135302044338[0m ×2 + 13.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012270952129366 + 13.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012270952129366[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008062767076407 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008062767076407[0m ×2 + 13.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009762072370903 + 13.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009762072370903[0m ×2 + 13.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009084473052166 + 13.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009084473052166[0m ×2 + 13.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120976949549 + 13.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006120976949549[0m ×2 + 13.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006728106892649 + 13.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006728106892649[0m ×2 + 13.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007494730082021 + 13.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007494730082021[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084941 ms (missed cycles : 3). + 13.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340275824190 + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084941 ms (missed cycles : 3).[0m ×2 + 13.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005340275824190[0m ×2 + 13.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102758369888 + 13.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102758369888[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376322111770 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376322111770[0m ×2 + 13.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036276184803 + 13.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004036276184803[0m ×2 + 13.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988871508139 + 13.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005988871508139[0m ×2 + 13.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224347609286 + 13.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005224347609286[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824105727854 + 13.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824105727854[0m ×2 + 13.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006077637842274 + 13.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006077637842274[0m ×2 + 13.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707338678642 + 13.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707338678642[0m ×2 + 13.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004924456117155 + 13.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004924456117155[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691704263792 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005691704263792[0m ×2 + 13.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006603587058898 + 13.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006603587058898[0m ×2 + 13.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205454802842 + 13.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005205454802842[0m ×2 + 13.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642952943224 + 13.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642952943224[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498835264990 + 13.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004498835264990[0m ×2 + 13.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343569828152 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343569828152[0m ×2 + 13.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274791724819 + 13.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004274791724819[0m ×2 + 13.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883128554173 + 13.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004883128554173[0m ×2 + 13.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978346591193 + 13.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978346591193[0m ×2 + 13.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770747144661 + 13.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004770747144661[0m ×2 + 13.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687522607990 + 13.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003687522607990[0m ×2 + 13.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742337035871 + 13.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002742337035871[0m ×2 + 13.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031206219808 + 13.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031206219808[0m ×2 + 13.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800302441816 + 13.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800302441816[0m ×2 + 13.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209671026493 + 13.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005209671026493[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924087106695 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924087106695[0m ×2 + 13.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704729608084 + 13.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704729608084[0m ×2 + 13.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965878476401 + 13.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004965878476401[0m ×2 + 13.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077593151741 + 13.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077593151741[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035900365115 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004035900365115[0m ×2 + 13.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708465212490 + 13.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708465212490[0m ×2 + 13.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773848246206 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003773848246206[0m ×2 + 13.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218202921522 + 13.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218202921522[0m ×2 + 13.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273927616838 + 13.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003273927616838[0m ×2 + 13.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943425036063 + 13.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003943425036063[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356846842707 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004356846842707[0m ×2 + 13.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987496231926 + 13.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004987496231926[0m ×2 + 13.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996021320963 + 13.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996021320963[0m ×2 + 13.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313528342321 + 13.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313528342321[0m ×2 + 13.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495437961836 + 13.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004495437961836[0m ×2 + 13.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672737243784 + 13.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672737243784[0m ×2 + 13.89sWARNcontroller_managerOverrun might occur, Total time : 1836.018 us (Expected < 1666.667 us) --> Read time : 242.710 us, Update time : 163.457 us, Write time : 1429.851 us + 13.89sWARNros2_control_nodeOverrun might occur, Total time : 1836.018 us (Expected < 1666.667 us) --> Read time : 242.710 us, Update time : 163.457 us, Write time : 1429.851 us[0m ×2 + 13.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738016604586 + 13.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003738016604586[0m ×2 + 13.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003008093370995 + 13.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003008093370995[0m ×2 + 13.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669743564253 + 13.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669743564253[0m ×2 + 13.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085007367438 + 13.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085007367438[0m ×2 + 13.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168265545148 + 13.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005168265545148[0m ×2 + 13.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588552134069 + 13.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003588552134069[0m ×2 + 13.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961873880133 + 13.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003961873880133[0m ×2 + 13.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181364443656 + 13.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004181364443656[0m ×2 + 13.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296583404367 + 13.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004296583404367[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855840816230 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855840816230[0m ×2 + 13.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688768645675 + 13.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688768645675[0m ×2 + 14.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540920583709 + 14.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004540920583709[0m ×2 + 14.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004417502103032 + 14.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004417502103032[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317365945377 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004317365945377[0m ×2 + 14.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035368177277 + 14.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035368177277[0m ×2 + 14.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003464077673897 + 14.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003464077673897[0m ×2 + 14.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742895522059 + 14.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003742895522059[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910100964199 + 14.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910100964199[0m ×2 + 14.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866076998089 + 14.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004866076998089[0m ×2 + 14.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596014768339 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596014768339[0m ×2 + 14.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380260543128 + 14.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380260543128[0m ×2 + 14.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213355390753 + 14.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004213355390753[0m ×2 + 14.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110831651201 + 14.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110831651201[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852256029199 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004852256029199[0m ×2 + 14.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765208038763 + 14.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005765208038763[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006872035920116 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006872035920116[0m ×2 + 14.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009186225687891 + 14.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009186225687891[0m ×2 + 14.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012414572249614 + 14.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012414572249614[0m ×2 + 14.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010788581393936 + 14.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010788581393936[0m ×2 + 14.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009530351879901 + 14.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009530351879901[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011487933968358 + 14.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011487933968358[0m ×2 + 14.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009736978504936 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009736978504936[0m ×2 + 14.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008491167020473 + 14.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008491167020473[0m ×2 + 14.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007642129695995 + 14.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007642129695995[0m ×2 + 14.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010093012048353 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010093012048353[0m ×2 + 14.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008443852365262 + 14.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008443852365262[0m ×2 + 14.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007388079488977 + 14.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007388079488977[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009596016607594 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009596016607594[0m ×2 + 14.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009862993792915 + 14.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009862993792915[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008131597966537 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008131597966537[0m ×2 + 14.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007047162936487 + 14.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007047162936487[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009114996006160 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009114996006160[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007497811245219 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007497811245219[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006945132854855 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006945132854855[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008712862448988 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008712862448988[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007263239533303 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007263239533303[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008686275110273 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008686275110273[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516909860957 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009516909860957[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007613071400377 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007613071400377[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008662425755645 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008662425755645[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388512592029 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388512592029[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093901239589 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007093901239589[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008207149140858 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008207149140858[0m ×2 + 14.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009446450728863 + 14.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009446450728863[0m ×2 + 14.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007442888529839 + 14.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007442888529839[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008153368779525 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008153368779525[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008361372391015 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008361372391015[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006513690511158 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006513690511158[0m ×2 + 14.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044401 ms (missed cycles : 2). + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.044401 ms (missed cycles : 2).[0m ×2 + 14.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302485835113 + 14.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007302485835113[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007590003629441 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007590003629441[0m ×2 + 14.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005933157478063 + 14.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005933157478063[0m ×2 + 14.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786201193117 + 14.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006786201193117[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098056918364 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007098056918364[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288506343544 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007288506343544[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007445988060042 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007445988060042[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734903241328 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005734903241328[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422506769286 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006422506769286[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707911005985 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006707911005985[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007231187492566 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007231187492566[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391783991695 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004391783991695[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225753586344 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005225753586344[0m ×2 + 14.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168159371415 + 14.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006168159371415[0m ×2 + 14.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009116575284089 + 14.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009116575284089[0m ×2 + 14.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008078446873602 + 14.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008078446873602[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007406245409452 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007406245409452[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007853888981523 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007853888981523[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102210011092 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007102210011092[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006565609238159 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006565609238159[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176617757814 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006176617757814[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924314041062 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006924314041062[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007200996991138 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007200996991138[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922416497097 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005922416497097[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006054754719052 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006054754719052[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477607871776 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005477607871776[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006820636279391 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006820636279391[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006207758157665 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006207758157665[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005808876498656 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005808876498656[0m ×2 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899449798709 + 14.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899449798709[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011384542121422 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011384542121422[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003170370006187 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003170370006187[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016194794525140 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016194794525140[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013574709897760 + 14.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013574709897760[0m ×2 + 14.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679208274810 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003679208274810[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013784112639104 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013784112639104[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000798070379138 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000798070379138[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017294655589741 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017294655589741[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017178800518624 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017178800518624[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006943160883917 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006943160883917[0m ×2 + 14.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011619878920458 + 14.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011619878920458[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003112340645598 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003112340645598[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833702257727 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006833702257727[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000953169193302 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000953169193302[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011962486932033 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011962486932033[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004572369173565 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004572369173565[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580211260179 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001580211260179[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963238324884 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963238324884[0m ×2 + 14.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548603142963 + 14.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003548603142963[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270077296543 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002270077296543[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839529512730 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003839529512730[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145113986551 + 15.00sWARNcontroller_managerOverrun might occur, Total time : 2358.050 us (Expected < 1666.667 us) --> Read time : 269.491 us, Update time : 1283.375 us, Write time : 805.184 us + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005145113986551[0m ×2 + 15.00sWARNros2_control_nodeOverrun might occur, Total time : 2358.050 us (Expected < 1666.667 us) --> Read time : 269.491 us, Update time : 1283.375 us, Write time : 805.184 us[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191926966181 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191926966181[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790724635756 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005790724635756[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003075220191560 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003075220191560[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007222261790351 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007222261790351[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002987702644649 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002987702644649[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007110777173520 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007110777173520[0m ×2 + 15.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002222755162299 + 15.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002222755162299[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006910326891503 + 15.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006910326891503[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001840998655684 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001840998655684[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333346966459 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005333346966459[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005696379074761 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005696379074761[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527149372535 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005527149372535[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799139187099 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003799139187099[0m ×2 + 15.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498147083482 + 15.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006498147083482[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000915950272942 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000915950272942[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006536332249490 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006536332249490[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001573811312861 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001573811312861[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197654457608 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005197654457608[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002222821656389 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002222821656389[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683610825310 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005683610825310[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002466659753325 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002466659753325[0m ×2 + 15.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625895463123 + 15.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004625895463123[0m ×2 + 15.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003029068868674 + 15.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003029068868674[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789905971184 + 15.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789905971184[0m ×2 + 15.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003160822139351 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003160822139351[0m ×2 + 15.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726142189924 + 15.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004726142189924[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003971690307826 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003971690307826[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821086978428 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821086978428[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522601303148 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001522601303148[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023744717789 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023744717789[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006566883402743 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006566883402743[0m ×2 + 15.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000577141430801 + 15.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000577141430801[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894562124817 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005894562124817[0m ×2 + 15.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002309728094104 + 15.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002309728094104[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813195557505 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004813195557505[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003867716030410 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003867716030410[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698709548576 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003698709548576[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056800588778 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056800588778[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473687898436 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004473687898436[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001398338067935 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001398338067935[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190154951099 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190154951099[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000641204209448 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000641204209448[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118927309071 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004118927309071[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532877832981 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532877832981[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512464418446 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004512464418446[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000902910892902 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000902910892902[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871346268651 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004871346268651[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001802619482685 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001802619482685[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162279 ms (missed cycles : 2). + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434664718444 + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.162279 ms (missed cycles : 2).[0m ×2 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005434664718444[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178956952413 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178956952413[0m ×2 + 15.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809549997380 + 15.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003809549997380[0m ×2 + 15.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001482960583695 + 15.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001482960583695[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369053799679 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004369053799679[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350249849681 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000350249849681[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883224576748 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883224576748[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001358853396434 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001358853396434[0m ×2 + 15.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583075117352 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583075117352[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002587330407554 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002587330407554[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229751748460 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003229751748460[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001487930936987 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001487930936987[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913171329260 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002913171329260[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002380478706259 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002380478706259[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884772099249 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005884772099249[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163138652441 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001163138652441[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594396709944 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594396709944[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429218878520 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000429218878520[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284882169832 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003284882169832[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000871074790632 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000871074790632[0m ×2 + 15.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842669792159 + 15.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842669792159[0m ×2 + 15.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112312643877 + 15.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112312643877[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074356046320 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003074356046320[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001718336977590 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001718336977590[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314069139165 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002314069139165[0m ×2 + 15.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002351487247460 + 15.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002351487247460[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171686636679 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002171686636679[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001746511099471 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001746511099471[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674825225936 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674825225936[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003373767170537 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003373767170537[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304172979890 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304172979890[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001380937536445 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001380937536445[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208549351141 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001208549351141[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002368652681186 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002368652681186[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810009008748 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810009008748[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061954530061 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000061954530061[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848154288667 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002848154288667[0m ×2 + 15.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001028794288937 + 15.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001028794288937[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059596405885 + 15.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059596405885[0m ×2 + 15.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000538346400031 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000538346400031[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387852992542 + 15.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387852992542[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001188600528586 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001188600528586[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977178596062 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000977178596062[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001049528680001 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001049528680001[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114689291752 + 15.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002114689291752[0m ×2 + 15.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000861097317215 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000861097317215[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984081243587 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001984081243587[0m ×2 + 15.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000863216513073 + 15.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000863216513073[0m ×2 + 15.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825918142073 + 15.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825918142073[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901774491676 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000901774491676[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697889318970 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001697889318970[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078668759706 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078668759706[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817177198457 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001817177198457[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467738095497 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000467738095497[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489391692190 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001489391692190[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000871394851968 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000871394851968[0m ×2 + 16.03sWARNcontroller_managerOverrun might occur, Total time : 6151.722 us (Expected < 1666.667 us) --> Read time : 216.369 us, Update time : 5072.456 us, Write time : 862.897 us + 16.03sWARNros2_control_nodeOverrun might occur, Total time : 6151.722 us (Expected < 1666.667 us) --> Read time : 216.369 us, Update time : 5072.456 us, Write time : 862.897 us[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002429198255077 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002429198255077[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000510996320020 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000510996320020[0m ×2 + 16.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682204518543 + 16.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001682204518543[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001107936070762 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001107936070762[0m ×2 + 16.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000703473164733 + 16.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000703473164733[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001275088287632 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001275088287632[0m ×2 + 16.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081224847931 + 16.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001081224847931[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001061998424374 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001061998424374[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464036169018 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464036169018[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001068240249209 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001068240249209[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014269127051 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001014269127051[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000844296220414 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000844296220414[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000878028743304 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000878028743304[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000469991616528 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000469991616528[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891800470688 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000891800470688[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001138590576374 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001138590576374[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909876934283 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000909876934283[0m ×2 + 16.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000360872682650 + 16.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000360872682650[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310002234741 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001310002234741[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000648948997258 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000648948997258[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894386681827 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000894386681827[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000949256658066 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000949256658066[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903251635627 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903251635627[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000843366266992 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000843366266992[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430945688069 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000430945688069[0m ×2 + 16.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000907176817984 + 16.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000907176817984[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874424394497 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000874424394497[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000775142080828 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000775142080828[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443641158740 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443641158740[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000836023661858 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000836023661858[0m ×2 + 16.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883514388257 + 16.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000883514388257[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000726216040661 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000726216040661[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464826200245 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000464826200245[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000800004165440 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000800004165440[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887749497041 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000887749497041[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711624915738 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000711624915738[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000473566175967 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000473566175967[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000798012526234 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000798012526234[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270523855081 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000270523855081[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000652403621169 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000652403621169[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000449860928684 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000449860928684[0m ×2 + 16.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001103605444836 + 16.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001103605444836[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000992767544103 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000992767544103[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208121567350 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000208121567350[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709910652966 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709910652966[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000634295424087 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000634295424087[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000845734536495 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000845734536495[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072746218510 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000072746218510[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940228661132 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000940228661132[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029716321583 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029716321583[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832201555385 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832201555385[0m ×2 + 16.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000266219596197 + 16.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000266219596197[0m ×2 + 16.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025645262421 + 16.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001025645262421[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354793038377 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354793038377[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783007454322 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000783007454322[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167528788568 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167528788568[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000863081094851 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000863081094851[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775725 ms (missed cycles : 2). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775725 ms (missed cycles : 2).[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000433228102144 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000433228102144[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492947173383 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000492947173383[0m ×2 + 16.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000306953105592 + 16.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000306953105592[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935160698143 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000935160698143[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000688811542146 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000688811542146[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339584170955 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339584170955[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201193329907 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000201193329907[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530072814509 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530072814509[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000273697403332 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000273697403332[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000569038729359 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000569038729359[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000110170542000 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000110170542000[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000695392411614 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000695392411614[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000293158843794 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000293158843794[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416692982128 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000416692982128[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000571350543367 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000571350543367[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138228201542 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000138228201542[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000531709277709 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000531709277709[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054530950989 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000054530950989[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000688900294301 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000688900294301[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000487698907709 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000487698907709[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133353872278 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000133353872278[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000527880762245 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000527880762245[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163395718535 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163395718535[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489030153225 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000489030153225[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423402415317 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000423402415317[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140963771998 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000140963771998[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000383250537185 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000383250537185[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000227938948363 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000227938948363[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331240364851 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000331240364851[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313953599019 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313953599019[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000306397182444 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000306397182444[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217436537735 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217436537735[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000381817066435 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000381817066435[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359676470034 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000359676470034[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092326585327 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092326585327[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000373895852170 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000373895852170[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000248704614347 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000248704614347[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000311017939313 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000311017939313[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000376383922115 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000376383922115[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106410881060 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106410881060[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407898022362 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000407898022362[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074611526718 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000074611526718[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366913601703 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000366913601703[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045051234158 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045051234158[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000479234226467 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000479234226467[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000334880203221 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000334880203221[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100753894896 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100753894896[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369273808911 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000369273808911[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124107952509 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000124107952509[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000353850716555 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000353850716555[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000316716626414 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000316716626414[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239412178097 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239412178097[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106400268280 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106400268280[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000383591855132 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000383591855132[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322125757239 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000322125757239[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162740382134 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000162740382134[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158956586727 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158956586727[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339056108918 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339056108918[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352085543482 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000352085543482[0m ×2 + 17.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155401139655 + 17.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000155401139655[0m ×2 + 17.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166425275529 + 17.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166425275529[0m ×2 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259708475264 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259708475264[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182754000476 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000182754000476[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169237687015 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169237687015[0m ×2 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240015595921 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000240015595921[0m ×2 + 17.16sWARNcontroller_managerOverrun might occur, Total time : 3946.707 us (Expected < 1666.667 us) --> Read time : 184.777 us, Update time : 3293.220 us, Write time : 468.710 us + 17.16sWARNros2_control_nodeOverrun might occur, Total time : 3946.707 us (Expected < 1666.667 us) --> Read time : 184.777 us, Update time : 3293.220 us, Write time : 468.710 us[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097065215967 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097065215967[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274301338229 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000274301338229[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000227236948261 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000227236948261[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268084012363 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268084012363[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104328940704 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000104328940704[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138688958403 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000138688958403[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237384871503 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000237384871503[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102182123362 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102182123362[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000287113857500 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000287113857500[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250190323230 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250190323230[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105079545644 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000105079545644[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000297566297000 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000297566297000[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056190672370 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056190672370[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137606248068 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000137606248068[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160444547971 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000160444547971[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132409062405 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000132409062405[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108652692483 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000108652692483[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167181436402 + 17.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167181436402[0m ×2 + 17.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000207308774882 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000207308774882[0m ×2 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176111092012 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000176111092012[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102146419526 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102146419526[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213353294563 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000213353294563[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119810944576 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119810944576[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162114573548 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162114573548[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089356047038 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089356047038[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190819726850 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190819726850[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174042511054 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000174042511054[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097039449860 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097039449860[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000324510902912 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000324510902912[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003757117569 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003757117569[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161493020397 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000161493020397[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127349179421 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127349179421[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272534533060 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272534533060[0m ×2 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052008407980 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000052008407980[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144112699097 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144112699097[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125956426969 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000125956426969[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093772943308 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093772943308[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190659535583 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190659535583[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152219366833 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000152219366833[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067246884463 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067246884463[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093697401229 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000093697401229[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221912723884 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000221912723884[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221725825459 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000221725825459[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025895073244 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025895073244[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248422624784 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248422624784[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115018590691 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115018590691[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868905 ms (missed cycles : 2). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868905 ms (missed cycles : 2).[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090227582377 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090227582377[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121378249859 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121378249859[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109412496443 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000109412496443[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152102290997 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000152102290997[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045842845293 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045842845293[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000168483927085 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000168483927085[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035826086326 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000035826086326[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150825811271 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150825811271[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076526607949 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076526607949[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106244170458 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106244170458[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000125239835746 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000125239835746[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051520971323 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051520971323[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170359705763 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170359705763[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006995285942 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006995285942[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000164074530240 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000164074530240[0m ×2 + 17.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036788194295 + 17.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036788194295[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133206070554 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000133206070554[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082415394941 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000082415394941[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085057305689 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085057305689[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122059282023 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122059282023[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038257830264 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038257830264[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134603155606 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000134603155606[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057750262754 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000057750262754[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135190140784 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000135190140784[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092845664387 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000092845664387[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040510773762 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040510773762[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079909252173 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079909252173[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116340916200 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116340916200[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078120745228 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000078120745228[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067741618037 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067741618037[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120228116657 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120228116657[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022002419547 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022002419547[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120299543499 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000120299543499[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042671135488 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000042671135488[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103468720908 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000103468720908[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075171053022 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000075171053022[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066272674622 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000066272674622[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106951860873 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106951860873[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029954609224 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029954609224[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062793641713 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000062793641713[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065199847839 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000065199847839[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081552102359 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081552102359[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090801171279 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090801171279[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045780927741 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000045780927741[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063252793631 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000063252793631[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025173918527 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025173918527[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143364981607 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000143364981607[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028544846590 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028544846590[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090237803317 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090237803317[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023926065685 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023926065685[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084560474072 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084560474072[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010083853099 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010083853099[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102865609949 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000102865609949[0m ×2 + 18.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080375759573 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000080375759573[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029828782827 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029828782827[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041333253988 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041333253988[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077138508060 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000077138508060[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087256077599 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087256077599[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037425949255 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037425949255[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044031441800 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044031441800[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089518176012 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000089518176012[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097680816461 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097680816461[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031018446811 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000031018446811[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093772519279 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000093772519279[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096450991142 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096450991142[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016547115350 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016547115350[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079916855429 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000079916855429[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031092320705 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031092320705[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071282811661 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000071282811661[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016400307084 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016400307084[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084880348111 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084880348111[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008314167159 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008314167159[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043865655655 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043865655655[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034640279301 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034640279301[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045580317306 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045580317306[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051302587678 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051302587678[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055941032047 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055941032047[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019913625681 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019913625681[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032686428746 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032686428746[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046888559620 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046888559620[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000072392399728 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000072392399728[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017630353289 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017630353289[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041101843655 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000041101843655[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051030694442 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000051030694442[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084711981316 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000084711981316[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014214968879 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014214968879[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091873529897 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091873529897[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038485257845 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038485257845[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032184457396 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032184457396[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026760123681 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026760123681[0m ×2 + 18.47sWARNcontroller_managerOverrun might occur, Total time : 5708.072 us (Expected < 1666.667 us) --> Read time : 188.588 us, Update time : 4951.180 us, Write time : 568.304 us + 18.47sWARNros2_control_nodeOverrun might occur, Total time : 5708.072 us (Expected < 1666.667 us) --> Read time : 188.588 us, Update time : 4951.180 us, Write time : 568.304 us[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039466738400 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000039466738400[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047352158411 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047352158411[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013022545554 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013022545554[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050102298591 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000050102298591[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021468997327 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021468997327[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037479226562 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037479226562[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017055105012 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000017055105012[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043998238248 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043998238248[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037482555667 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000037482555667[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012903971976 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012903971976[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051541305234 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051541305234[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015112355635 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015112355635[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045490703010 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045490703010[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008005741264 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008005741264[0m ×2 + 18.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055406657705 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055406657705[0m ×2 + 18.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.436234 ms (missed cycles : 6). + 18.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.436234 ms (missed cycles : 6).[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029055110861 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029055110861[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042981928243 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000042981928243[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012006816987 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012006816987[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045238999925 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000045238999925[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024341994753 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000024341994753[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030060715092 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000030060715092[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038640386462 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038640386462[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013219023746 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013219023746[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027486181776 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027486181776[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025262844448 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025262844448[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026291783570 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026291783570[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038639472362 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000038639472362[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014320005869 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014320005869[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026398311771 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026398311771[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008971174525 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008971174525[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056107492128 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000056107492128[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036979533941 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000036979533941[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002144772251 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002144772251[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040279716264 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040279716264[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032409557264 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032409557264[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011890786760 + 18.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011890786760[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021677740865 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021677740865[0m ×2 + 18.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028480420917 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028480420917[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047146667877 + 18.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000047146667877[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009552220409 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009552220409[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027201911625 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027201911625[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004559086083 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004559086083[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032150271323 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000032150271323[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022972299383 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022972299383[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010317635070 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010317635070[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043826083173 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043826083173[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015597010836 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015597010836[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025091368735 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025091368735[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013803631984 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013803631984[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022786488049 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000022786488049[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010250971960 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010250971960[0m ×2 + 18.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028385645337 + 18.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000028385645337[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022256997865 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022256997865[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009371329474 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009371329474[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014546158363 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014546158363[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032590529783 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000032590529783[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033974983759 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000033974983759[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005226715767 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005226715767[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027071637009 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027071637009[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011676287941 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011676287941[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024643823338 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024643823338[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014808242077 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014808242077[0m ×2 + 19.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010252102006 + 19.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010252102006[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021395812689 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021395812689[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014941617683 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000014941617683[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012629243229 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012629243229[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023239379599 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000023239379599[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004481997290 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004481997290[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026648463086 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026648463086[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005026059578 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005026059578[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025133417619 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000025133417619[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008047318404 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008047318404[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021394852317 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000021394852317[0m ×2 + 19.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004539671917 + 19.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004539671917[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026149588298 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000026149588298[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014736844778 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014736844778[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002624297003 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002624297003[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023007175903 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000023007175903[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006583597134 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006583597134[0m ×2 + 19.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013661699765 + 19.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013661699765[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015354572371 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015354572371[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015666508971 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015666508971[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011107689443 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011107689443[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015278520699 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015278520699[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011413451257 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011413451257[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018574166029 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000018574166029[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027413995899 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027413995899[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004773748467 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004773748467[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022993886675 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022993886675[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020155321556 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020155321556[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005615687988 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005615687988[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010983396734 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010983396734[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012343188126 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000012343188126[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006009475644 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006009475644[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019004370894 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019004370894[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011309264788 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011309264788[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001892921858 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001892921858[0m ×2 + 19.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016846917055 + 19.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016846917055[0m ×2 + 19.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005479514716 + 19.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005479514716[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012054965945 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012054965945[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004587226665 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004587226665[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013644618524 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013644618524[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019917023262 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019917023262[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001551184636 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001551184636[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010578597425 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010578597425[0m ×2 + 19.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007880162644 + 19.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007880162644[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010814961235 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010814961235[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012158233742 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012158233742[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007292694220 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007292694220[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007559991849 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007559991849[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005020494229 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005020494229[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017267476038 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017267476038[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007035670473 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007035670473[0m ×2 + 19.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010045523014 + 19.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010045523014[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005832529359 + 19.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005832529359[0m ×2 + 19.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012004349244 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000012004349244[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008945858337 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008945858337[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006989150692 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006989150692[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013750606637 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000013750606637[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002361796604 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002361796604[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007834056700 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007834056700[0m ×2 + 19.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008467995027 + 19.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008467995027[0m ×2 + 19.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015636123079 + 19.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015636123079[0m ×2 + 19.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003420506857 + 19.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003420506857[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279300 ms (missed cycles : 2). + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279300 ms (missed cycles : 2).[0m ×2 + 19.66sWARNcontroller_managerOverrun might occur, Total time : 1717.062 us (Expected < 1666.667 us) --> Read time : 205.808 us, Update time : 145.967 us, Write time : 1365.287 us + 19.67sWARNros2_control_nodeOverrun might occur, Total time : 1717.062 us (Expected < 1666.667 us) --> Read time : 205.808 us, Update time : 145.967 us, Write time : 1365.287 us[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006944338344 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006944338344[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011687460480 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011687460480[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008371616814 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008371616814[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004429251235 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004429251235[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005304967456 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005304967456[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008923432861 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008923432861[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016364695833 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000016364695833[0m ×2 + 19.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002287138654 + 19.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002287138654[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008701436458 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008701436458[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001195955348 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001195955348[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009897414229 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009897414229[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007269576914 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007269576914[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010033313602 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010033313602[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003340632617 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003340632617[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005501173976 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005501173976[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005981242792 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005981242792[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006567062213 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006567062213[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008080983848 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008080983848[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008467729380 + 19.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008467729380[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003224813585 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003224813585[0m ×2 + 19.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003443256556 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003443256556[0m ×2 + 19.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011940771393 + 19.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011940771393[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010587571316 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010587571316[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000930209422 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000930209422[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008504435955 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008504435955[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004346334953 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004346334953[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007998899467 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007998899467[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002473213373 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002473213373[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009908374885 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009908374885[0m ×2 + 19.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007831616242 + 19.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007831616242[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003193318151 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003193318151[0m ×2 + 19.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007062789117 + 19.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007062789117[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005855723048 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005855723048[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004136500287 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004136500287[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008674638718 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008674638718[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001552595891 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001552595891[0m ×2 + 19.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004838244030 + 19.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004838244030[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004010610983 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004010610983[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003345716195 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003345716195[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006329857797 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006329857797[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005336566732 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005336566732[0m ×2 + 20.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002439493603 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002439493603[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007358859910 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007358859910[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000804158718 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000804158718[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007452839353 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007452839353[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002809591321 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002809591321[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005313958041 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005313958041[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001288087866 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001288087866[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009098854884 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009098854884[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006181695417 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006181695417[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000411585097 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000411585097[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005275891118 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005275891118[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003814750207 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003814750207[0m ×2 + 20.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006071620774 + 20.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006071620774[0m ×2 + 20.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001619011917 + 20.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001619011917[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005582925655 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005582925655[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003091126918 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003091126918[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004379291679 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004379291679[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004989338937 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004989338937[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001247602037 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001247602037[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005357518481 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005357518481[0m ×2 + 20.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001996602496 + 20.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001996602496[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005098671225 + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005098671225[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003551550871 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003551550871[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002140080433 + 20.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002140080433[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004933670419 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004933670419[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002389367495 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002389367495[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004128955694 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004128955694[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004065576189 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004065576189[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002308903030 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002308903030[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005823029846 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005823029846[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763088800 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763088800[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002782177332 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002782177332[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005992768929 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005992768929[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008382165555 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000008382165555[0m ×2 + 20.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001605386649 + 20.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001605386649[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007288578492 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000007288578492[0m ×2 + 20.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003348454432 + 20.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003348454432[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002470937901 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002470937901[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001011488322 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001011488322[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006802613503 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006802613503[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004741244972 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004741244972[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000233018335 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000233018335[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003819044864 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003819044864[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002725659910 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002725659910[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003601057792 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003601057792[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001446932153 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001446932153[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001816579138 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001816579138[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005997083066 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000005997083066[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001672432714 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001672432714[0m ×2 + 20.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003914738703 + 20.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003914738703[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001319797695 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001319797695[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003915224974 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003915224974[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003768174674 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003768174674[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001201116708 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001201116708[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001951527721 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001951527721[0m ×2 + 20.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003698456348 + 20.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003698456348[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000502097880 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000502097880[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004693771682 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004693771682[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002209340994 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002209340994[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001969586806 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001969586806[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001383449179 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001383449179[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003838064784 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003838064784[0m ×2 + 20.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003683412962 + 20.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003683412962[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001680312610 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001680312610[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001275726328 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001275726328[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003054872833 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003054872833[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001974961761 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001974961761[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001427697726 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001427697726[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002111505533 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002111505533[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830640532 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830640532[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002052871786 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002052871786[0m ×2 + 20.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001380826622 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001380826622[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002736709859 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235226 ms (missed cycles : 3). + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002736709859[0m ×2 + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.235226 ms (missed cycles : 3).[0m ×2 + 20.71sWARNcontroller_managerOverrun might occur, Total time : 3996.729 us (Expected < 1666.667 us) --> Read time : 195.878 us, Update time : 3341.952 us, Write time : 458.899 us + 20.71sWARNros2_control_nodeOverrun might occur, Total time : 3996.729 us (Expected < 1666.667 us) --> Read time : 195.878 us, Update time : 3341.952 us, Write time : 458.899 us[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002469848541 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002469848541[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002413548952 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002413548952[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001035429665 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001035429665[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002043531445 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002043531445[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002614110417 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002614110417[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001400020612 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001400020612[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001131276193 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001131276193[0m ×2 + 20.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003538683830 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003538683830[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003268590097 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003268590097[0m ×2 + 20.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231869506 + 20.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000231869506[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003701900919 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003701900919[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000154611523 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000154611523[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002136362769 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002136362769[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000540466859 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000540466859[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003568242101 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000003568242101[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000695209563 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000695209563[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002124921426 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002124921426[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000776611882 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000776611882[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001964727962 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001964727962[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002076715878 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002076715878[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001387956972 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001387956972[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000819173974 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000819173974[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002607313304 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002607313304[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002344660043 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002344660043[0m ×2 + 20.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001144198711 + 20.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001144198711[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001315352968 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001315352968[0m ×2 + 20.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857022930 + 20.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857022930[0m ×2 + 20.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633279213 + 20.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633279213[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001862141018 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001862141018[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788643332 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788643332[0m ×2 + 21.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011554639442 + 21.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011554639442[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284938427 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284938427[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001408029592 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001408029592[0m ×2 + 21.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001429086562 + 21.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001429086562[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853349110 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853349110[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424399096 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424399096[0m ×2 + 21.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002446120551 + 21.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002446120551[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215287079 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215287079[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001644925378 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001644925378[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987683984 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987683984[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001693166167 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001693166167[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002056167969 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002056167969[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488109820 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488109820[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001062752209 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001062752209[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001675356235 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001675356235[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002081581754 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002081581754[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000554169312 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000554169312[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001989221282 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001989221282[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000868234946 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000868234946[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001045770011 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001045770011[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782214468 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782214468[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968373716 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968373716[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000597249432 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000597249432[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001498727301 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001498727301[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001061898625 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001061898625[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008248277282 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008248277282[0m ×2 + 21.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001726284840 + 21.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001726284840[0m ×2 + 21.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296906121 + 21.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296906121[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001343128420 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001343128420[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152982536 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152982536[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558185263 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558185263[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817303817 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817303817[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000594091865 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000594091865[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000925451608 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000925451608[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199546 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199546[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960161545 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960161545[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001029554193 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001029554193[0m ×2 + 21.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548793068 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548793068[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830537965 + 21.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830537965[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133848245 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133848245[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907185634 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907185634[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763087903 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763087903[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000589213991 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000589213991[0m ×2 + 21.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530980044 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530980044[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000944409158 + 21.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000944409158[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516485784 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516485784[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000627287706 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000627287706[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000833382377 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000833382377[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918874485 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918874485[0m ×2 + 21.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978140596 + 21.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978140596[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404474781 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404474781[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000537485344 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000537485344[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001044406996 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001044406996[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001166933540 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001166933540[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961207611 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961207611[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000490375846 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000490375846[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000670723829 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000670723829[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440415802 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440415802[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001397956936 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001397956936[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433144983 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433144983[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000880438976 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000880438976[0m ×2 + 21.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000355444737 + 21.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000355444737[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001240298430 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001240298430[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625985458 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625985458[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000489438183 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000489438183[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000404300152 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000404300152[0m ×2 + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000990741686 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000990741686[0m ×2 + 21.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001022224833 + 21.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001022224833[0m ×2 + 21.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421027268 + 21.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421027268[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000574258005 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000574258005[0m ×2 + 21.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000740713406 + 21.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000740713406[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000666285927 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000666285927[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356557534 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356557534[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000357636494 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000357636494[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177326 ms (missed cycles : 2). + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000815184373 + 21.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177326 ms (missed cycles : 2).[0m ×2 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000815184373[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842403075 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842403075[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000380526135 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000380526135[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456696776 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456696776[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000921315783 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000921315783[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028996548 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028996548[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004371256361 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004371256361[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000921837395 + 21.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000921837395[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158312034 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158312034[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516295902 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516295902[0m ×2 + 21.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000630711608 + 21.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000630711608[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000343425109 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000343425109[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000441190738 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000441190738[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535289157 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535289157[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217964044 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217964044[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281357422 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281357422[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000558223356 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000558223356[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000615509008 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000615509008[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000267459373 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000267459373[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213428192 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213428192[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000509698349 + 21.90sWARNcontroller_managerOverrun might occur, Total time : 1734.004 us (Expected < 1666.667 us) --> Read time : 364.126 us, Update time : 217.959 us, Write time : 1151.919 us + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000509698349[0m ×2 + 21.90sWARNros2_control_nodeOverrun might occur, Total time : 1734.004 us (Expected < 1666.667 us) --> Read time : 364.126 us, Update time : 217.959 us, Write time : 1151.919 us[0m ×2 + 21.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000322956700 + 21.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000322956700[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389052896 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389052896[0m ×2 + 21.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003018709671 + 21.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003018709671[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000822523365 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000822523365[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430113959 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430113959[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000333900434 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000333900434[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003452208464 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003452208464[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476141541 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476141541[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268466382 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268466382[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673549209 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673549209[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405364335 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405364335[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440250869 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440250869[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200340691 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200340691[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303991990 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303991990[0m ×2 + 22.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338169372 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338169372[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438182134 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438182134[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415349283 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415349283[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196708422 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196708422[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140714918 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140714918[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716513755 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716513755[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002756005524 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002756005524[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000332152332 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000332152332[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225785041 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225785041[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000488964466 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000488964466[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129929824 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129929824[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244750236 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244750236[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404238911 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404238911[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156384748 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156384748[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481543430 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481543430[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003182532726 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003182532726[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405518353 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405518353[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000334185046 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000334185046[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001465874691 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001465874691[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278144300 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278144300[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000408588686 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000408588686[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135211985 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135211985[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000278570962 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000278570962[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000264194083 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000264194083[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000371141271 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000371141271[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001445324782 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001445324782[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387863488 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387863488[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270347208 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270347208[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237984962 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237984962[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361829566 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361829566[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001904015911 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001904015911[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222152848 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222152848[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421838233 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421838233[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000960211857 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000960211857[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289191333 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289191333[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000202380761 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000202380761[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000176811103 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000176811103[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270531425 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270531425[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001469717080 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001469717080[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164915061 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164915061[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000240503942 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000240503942[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120414565 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120414565[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000405804009 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000405804009[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001787935563 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001787935563[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000254468998 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000254468998[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246371557 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246371557[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001233269822 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001233269822[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000210475273 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000210475273[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517894258 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517894258[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168232539 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168232539[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173350052 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173350052[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583307060 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583307060[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124798906 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124798906[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167865534 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167865534[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135772859 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135772859[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172589328 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172589328[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001048971285 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001048971285[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169203638 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169203638[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132613829 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132613829[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000938008650 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000938008650[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171291551 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171291551[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001004826353 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001004826353[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160748563 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160748563[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000122780063 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000122780063[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001008090617 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001008090617[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183366613 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183366613[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251120680 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251120680[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000990254427 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000990254427[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860248893 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860248893[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172286932 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172286932[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171375484 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171375484[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001005326407 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001005326407[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000155875766 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000155875766[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001573599201 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001573599201[0m ×2 + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680082 ms (missed cycles : 2). + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321955083 + 22.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680082 ms (missed cycles : 2).[0m ×2 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321955083[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156846126 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156846126[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001413772635 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001413772635[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001484456750 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001484456750[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000131300846 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000131300846[0m ×2 + 22.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001493999834 + 22.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001493999834[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001560979875 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001560979875[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126671946 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126671946[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000946046125 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000946046125[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137970121 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137970121[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134401288 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134401288[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029631506 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029631506[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059103041 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059103041[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137355035 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137355035[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001329656817 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001329656817[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001061235367 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001061235367[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000907858810 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000907858810[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001299773567 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001299773567[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001310111908 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001310111908[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102360540 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102360540[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001425021201 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001425021201[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001432293043 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001432293043[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001148334028 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001148334028[0m ×2 + 22.96sWARNcontroller_managerOverrun might occur, Total time : 2344.219 us (Expected < 1666.667 us) --> Read time : 410.977 us, Update time : 1442.481 us, Write time : 490.761 us + 22.96sWARNros2_control_nodeOverrun might occur, Total time : 2344.219 us (Expected < 1666.667 us) --> Read time : 410.977 us, Update time : 1442.481 us, Write time : 490.761 us[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000941180918 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000941180918[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043257530 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043257530[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000174864587 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000174864587[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000587906891 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000587906891[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000470964294 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000470964294[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000477941931 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000477941931[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000386363008 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000386363008[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000209429268 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000209429268[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000280265619 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000280265619[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525627710 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525627710[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415480640 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415480640[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333209708 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333209708[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339163980 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339163980[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000273408692 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000273408692[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000219923116 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000219923116[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177612484 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177612484[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000181931430 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000181931430[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000124664256 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000124664256[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155390041 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155390041[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000545222082 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000545222082[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000728714128 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000728714128[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573033924 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573033924[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000456634944 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000456634944[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000459199484 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000459199484[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365350559 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365350559[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089796 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089796[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089799 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089799[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231457088 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231457088[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184072092 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184072092[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000131312660 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000131312660[0m ×2 + 23.27sINFOjoint_trajectory_controllerAccepted new action goal ×124 + 23.27sINFOros2_control_nodeAccepted new action goal[0m ×248 + 23.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269432 ms (missed cycles : 4). + 23.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269432 ms (missed cycles : 4).[0m ×2 + 24.03sWARNcontroller_managerOverrun might occur, Total time : 3605.772 us (Expected < 1666.667 us) --> Read time : 360.365 us, Update time : 2801.798 us, Write time : 443.609 us + 24.03sWARNros2_control_nodeOverrun might occur, Total time : 3605.772 us (Expected < 1666.667 us) --> Read time : 360.365 us, Update time : 2801.798 us, Write time : 443.609 us[0m ×2 + 24.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602415.72210550 seconds ×3 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825472 ms (missed cycles : 7). + 24.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825472 ms (missed cycles : 7).[0m ×2 + 24.88sINFOjoint_trajectory_controllerGoal reached, success! + 24.88sINFOros2_control_nodeGoal reached, success![0m ×2 + 25.06sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780602416.32896304 seconds. ×3 + 25.07sWARNcontroller_managerOverrun might occur, Total time : 9247.472 us (Expected < 1666.667 us) --> Read time : 295.532 us, Update time : 8327.863 us, Write time : 624.077 us + 25.07sWARNros2_control_nodeOverrun might occur, Total time : 9247.472 us (Expected < 1666.667 us) --> Read time : 295.532 us, Update time : 8327.863 us, Write time : 624.077 us[0m ×2 + 25.23sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 25.24sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 25.25sINFOros2_control_node[2026-06-04 19:46:56.524] [info] Received new action goal ×2 + 25.25sINFOros2_control_node[2026-06-04 19:46:56.524] [info] Accepted new action goal ×2 + 25.26sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 25.27sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 25.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388119 ms (missed cycles : 3). + 25.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388119 ms (missed cycles : 3).[0m ×2 + 26.26sWARNcontroller_managerOverrun might occur, Total time : 1934.712 us (Expected < 1666.667 us) --> Read time : 256.091 us, Update time : 632.597 us, Write time : 1046.024 us + 26.27sWARNros2_control_nodeOverrun might occur, Total time : 1934.712 us (Expected < 1666.667 us) --> Read time : 256.091 us, Update time : 632.597 us, Write time : 1046.024 us[0m ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683468 ms (missed cycles : 2). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683468 ms (missed cycles : 2).[0m ×2 + 27.33sWARNcontroller_managerOverrun might occur, Total time : 5521.843 us (Expected < 1666.667 us) --> Read time : 281.272 us, Update time : 4642.846 us, Write time : 597.725 us + 27.33sWARNros2_control_nodeOverrun might occur, Total time : 5521.843 us (Expected < 1666.667 us) --> Read time : 281.272 us, Update time : 4642.846 us, Write time : 597.725 us[0m ×2 + 27.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859041 ms (missed cycles : 4). + 27.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859041 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 3 errors · 111 warnings · 121 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401309 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401309 ms (missed cycles : 2).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3715.607 us (Expected < 1666.667 us) --> Read time : 189.318 us, Update time : 3022.088 us, Write time : 504.201 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 3715.607 us (Expected < 1666.667 us) --> Read time : 189.318 us, Update time : 3022.088 us, Write time : 504.201 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670849 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670849 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 6968.194 us (Expected < 1666.667 us) --> Read time : 183.698 us, Update time : 63.012 us, Write time : 6721.484 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 6968.194 us (Expected < 1666.667 us) --> Read time : 183.698 us, Update time : 63.012 us, Write time : 6721.484 us[0m ×2 + 2.05sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889148 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889148 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 2.13sINFOobjective_server_nodeFound path in 1 iterations (0.00260259 s). ×2 + 2.23sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.27sINFOros2_control_node[2026-06-04 19:44:35.095] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-06-04 19:44:35.095] [info] Accepted new action goal ×2 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 10346.427 us (Expected < 1666.667 us) --> Read time : 228.299 us, Update time : 9625.697 us, Write time : 492.431 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 10346.427 us (Expected < 1666.667 us) --> Read time : 228.299 us, Update time : 9625.697 us, Write time : 492.431 us[0m ×2 + 2.71sINFOros2_control_node[2026-06-04 19:44:35.537] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-06-04 19:44:35.537] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345544 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345544 ms (missed cycles : 5).[0m ×2 + 3.31sINFOros2_control_node[2026-06-04 19:44:36.128] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-06-04 19:44:36.128] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780602276.14792013 seconds ×3 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.67sWARNcontroller_managerOverrun might occur, Total time : 10119.418 us (Expected < 1666.667 us) --> Read time : 236.130 us, Update time : 66.283 us, Write time : 9817.005 us + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 10119.418 us (Expected < 1666.667 us) --> Read time : 236.130 us, Update time : 66.283 us, Write time : 9817.005 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780602276.76472640 seconds. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.12sINFOros2_control_node[2026-06-04 19:44:36.939] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-04 19:44:36.939] [info] Accepted new action goal ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.13sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.13sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628207 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628207 ms (missed cycles : 7).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 2234.564 us (Expected < 1666.667 us) --> Read time : 891.458 us, Update time : 76.613 us, Write time : 1266.493 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 2234.564 us (Expected < 1666.667 us) --> Read time : 891.458 us, Update time : 76.613 us, Write time : 1266.493 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807580 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807580 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun might occur, Total time : 6617.000 us (Expected < 1666.667 us) --> Read time : 220.529 us, Update time : 93.594 us, Write time : 6302.877 us + 5.90sWARNros2_control_nodeOverrun might occur, Total time : 6617.000 us (Expected < 1666.667 us) --> Read time : 220.529 us, Update time : 93.594 us, Write time : 6302.877 us[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695099 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695099 ms (missed cycles : 4).[0m ×2 + 6.58sINFOros2_control_node[2026-06-04 19:44:39.403] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-06-04 19:44:39.403] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 5417.458 us (Expected < 1666.667 us) --> Read time : 201.358 us, Update time : 4703.188 us, Write time : 512.912 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 5417.458 us (Expected < 1666.667 us) --> Read time : 201.358 us, Update time : 4703.188 us, Write time : 512.912 us[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436155 ms (missed cycles : 5). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.436155 ms (missed cycles : 5).[0m ×2 + 7.93sWARNcontroller_managerOverrun might occur, Total time : 4048.221 us (Expected < 1666.667 us) --> Read time : 173.597 us, Update time : 3065.030 us, Write time : 809.594 us + 7.93sWARNros2_control_nodeOverrun might occur, Total time : 4048.221 us (Expected < 1666.667 us) --> Read time : 173.597 us, Update time : 3065.030 us, Write time : 809.594 us[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897065 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897065 ms (missed cycles : 3).[0m ×2 + 8.94sWARNcontroller_managerOverrun might occur, Total time : 4357.144 us (Expected < 1666.667 us) --> Read time : 271.482 us, Update time : 3589.321 us, Write time : 496.341 us + 8.94sWARNros2_control_nodeOverrun might occur, Total time : 4357.144 us (Expected < 1666.667 us) --> Read time : 271.482 us, Update time : 3589.321 us, Write time : 496.341 us[0m ×2 + 9.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.754790 ms (missed cycles : 7). + 9.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.754790 ms (missed cycles : 7).[0m ×2 + 10.02sWARNcontroller_managerOverrun might occur, Total time : 11374.661 us (Expected < 1666.667 us) --> Read time : 181.118 us, Update time : 114.764 us, Write time : 11078.779 us + 10.03sWARNros2_control_nodeOverrun might occur, Total time : 11374.661 us (Expected < 1666.667 us) --> Read time : 181.118 us, Update time : 114.764 us, Write time : 11078.779 us[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437927 ms (missed cycles : 4). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.437927 ms (missed cycles : 4).[0m ×2 + 11.04sWARNcontroller_managerOverrun might occur, Total time : 1943.632 us (Expected < 1666.667 us) --> Read time : 165.227 us, Update time : 1361.767 us, Write time : 416.638 us + 11.04sWARNros2_control_nodeOverrun might occur, Total time : 1943.632 us (Expected < 1666.667 us) --> Read time : 165.227 us, Update time : 1361.767 us, Write time : 416.638 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504467 ms (missed cycles : 6). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.504467 ms (missed cycles : 6).[0m ×2 + 12.24sWARNcontroller_managerOverrun might occur, Total time : 2887.352 us (Expected < 1666.667 us) --> Read time : 187.298 us, Update time : 86.634 us, Write time : 2613.420 us + 12.24sWARNros2_control_nodeOverrun might occur, Total time : 2887.352 us (Expected < 1666.667 us) --> Read time : 187.298 us, Update time : 86.634 us, Write time : 2613.420 us[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3).[0m ×2 + 13.49sWARNcontroller_managerOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us + 13.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2). + 13.49sWARNros2_control_nodeOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us[0m ×2 + 13.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2).[0m ×2 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3).[0m ×2 + 14.54sWARNcontroller_managerOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us + 14.55sWARNros2_control_nodeOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us[0m ×2 + 15.13sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780602287.95841551 seconds ×3 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7). + 15.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7).[0m ×2 + 15.77sWARNcontroller_managerOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us + 15.77sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780602288.59811258 seconds. ×3 + 15.78sWARNros2_control_nodeOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us[0m ×2 + 15.81sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.81sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.81sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.81sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.81sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.81sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.82sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.82sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.83sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.83sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.83sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 15.83sWARNcontroller_managerOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us + 15.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 15.83sWARNros2_control_nodeOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us[0m ×2 + 15.83sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780602288.65826273 seconds ×3 + 16.40sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780602289.21936512 seconds. ×3 + 16.52sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 16.52sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.53sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Received new action goal ×2 + 16.53sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Accepted new action goal ×2 + 16.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8).[0m ×2 + 17.04sWARNcontroller_managerOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us + 17.04sWARNros2_control_nodeOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3).[0m ×2 + 18.07sWARNcontroller_managerOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us + 18.08sWARNros2_control_nodeOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us[0m ×2 + 18.54sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780602291.35951185 seconds ×3 + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 99 warnings · 146 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664493 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.664493 ms (missed cycles : 5).[0m ×2 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 2939.124 us (Expected < 1666.667 us) --> Read time : 2172.281 us, Update time : 255.461 us, Write time : 511.382 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 2939.124 us (Expected < 1666.667 us) --> Read time : 2172.281 us, Update time : 255.461 us, Write time : 511.382 us[0m ×2 + 0.78sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: velocity_force_controller ×6 + 0.78sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.78sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 0.78sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 0.78sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 0.78sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.78sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.78sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 0.78sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 0.78sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 0.78sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419395 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419395 ms (missed cycles : 3).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 2023.875 us (Expected < 1666.667 us) --> Read time : 170.047 us, Update time : 1467.522 us, Write time : 386.306 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 2023.875 us (Expected < 1666.667 us) --> Read time : 170.047 us, Update time : 1467.522 us, Write time : 386.306 us[0m ×2 + 1.70sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.73sINFOros2_control_node[2026-06-04 19:45:43.924] [info] Received new action goal ×2 + 1.73sINFOros2_control_node[2026-06-04 19:45:43.924] [info] Accepted new action goal ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971922 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971922 ms (missed cycles : 2).[0m ×2 + 2.45sWARNcontroller_managerOverrun might occur, Total time : 1780.665 us (Expected < 1666.667 us) --> Read time : 813.845 us, Update time : 125.885 us, Write time : 840.935 us + 2.45sWARNros2_control_nodeOverrun might occur, Total time : 1780.665 us (Expected < 1666.667 us) --> Read time : 813.845 us, Update time : 125.885 us, Write time : 840.935 us[0m ×2 + 2.87sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780602345.06635261 seconds ×3 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.88sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962201 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.962201 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 2541.008 us (Expected < 1666.667 us) --> Read time : 364.806 us, Update time : 74.573 us, Write time : 2101.629 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 2541.008 us (Expected < 1666.667 us) --> Read time : 364.806 us, Update time : 74.573 us, Write time : 2101.629 us[0m ×2 + 3.57sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780602345.76606107 seconds. ×3 + 3.98sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.99sINFOfoxglove_bridgeRemoving channel 77 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275158 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275158 ms (missed cycles : 2).[0m ×2 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 5650.649 us (Expected < 1666.667 us) --> Read time : 189.878 us, Update time : 4928.489 us, Write time : 532.282 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 5650.649 us (Expected < 1666.667 us) --> Read time : 189.878 us, Update time : 4928.489 us, Write time : 532.282 us[0m ×2 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 4.85sINFOros2_control_node[2026-06-04 19:45:47.051] [info] Received new action goal ×2 + 4.85sINFOros2_control_node[2026-06-04 19:45:47.051] [info] Accepted new action goal ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.713560 ms (missed cycles : 9). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.713560 ms (missed cycles : 9).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 1722.972 us (Expected < 1666.667 us) --> Read time : 611.165 us, Update time : 88.874 us, Write time : 1022.933 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 1722.972 us (Expected < 1666.667 us) --> Read time : 611.165 us, Update time : 88.874 us, Write time : 1022.933 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103280 ms (missed cycles : 6). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.103280 ms (missed cycles : 6).[0m ×2 + 7.06sWARNcontroller_managerOverrun might occur, Total time : 2005.384 us (Expected < 1666.667 us) --> Read time : 1546.545 us, Update time : 78.723 us, Write time : 380.116 us + 7.06sWARNros2_control_nodeOverrun might occur, Total time : 2005.384 us (Expected < 1666.667 us) --> Read time : 1546.545 us, Update time : 78.723 us, Write time : 380.116 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780588 ms (missed cycles : 4). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.780588 ms (missed cycles : 4).[0m ×2 + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158968 ms (missed cycles : 3). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.158968 ms (missed cycles : 3).[0m ×2 + 8.55sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×6 + 8.55sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 8.55sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.55sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 8.55sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.55sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 8.55sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 8.55sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 8.55sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 8.71sWARNcontroller_managerOverrun might occur, Total time : 5451.370 us (Expected < 1666.667 us) --> Read time : 280.642 us, Update time : 4647.156 us, Write time : 523.572 us + 8.71sWARNros2_control_nodeOverrun might occur, Total time : 5451.370 us (Expected < 1666.667 us) --> Read time : 280.642 us, Update time : 4647.156 us, Write time : 523.572 us[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361219 ms (missed cycles : 2).[0m ×2 + 9.81sWARNcontroller_managerOverrun might occur, Total time : 8420.206 us (Expected < 1666.667 us) --> Read time : 168.787 us, Update time : 7783.469 us, Write time : 467.950 us + 9.81sWARNros2_control_nodeOverrun might occur, Total time : 8420.206 us (Expected < 1666.667 us) --> Read time : 168.787 us, Update time : 7783.469 us, Write time : 467.950 us[0m ×2 + 10.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948200 ms (missed cycles : 6). + 10.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.948200 ms (missed cycles : 6).[0m ×2 + 10.87sWARNcontroller_managerOverrun might occur, Total time : 4145.356 us (Expected < 1666.667 us) --> Read time : 204.939 us, Update time : 32.711 us, Write time : 3907.706 us + 10.87sWARNros2_control_nodeOverrun might occur, Total time : 4145.356 us (Expected < 1666.667 us) --> Read time : 204.939 us, Update time : 32.711 us, Write time : 3907.706 us[0m ×2 + 10.92sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 10.93sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 10.94sINFOros2_control_node[2026-06-04 19:45:53.131] [info] Received new action goal ×2 + 10.94sINFOros2_control_node[2026-06-04 19:45:53.131] [info] Accepted new action goal ×2 + 11.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313430 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313430 ms (missed cycles : 2).[0m ×2 + 11.88sWARNcontroller_managerOverrun might occur, Total time : 1883.600 us (Expected < 1666.667 us) --> Read time : 312.944 us, Update time : 650.047 us, Write time : 920.609 us + 11.88sWARNros2_control_nodeOverrun might occur, Total time : 1883.600 us (Expected < 1666.667 us) --> Read time : 312.944 us, Update time : 650.047 us, Write time : 920.609 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745769 ms (missed cycles : 2). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745769 ms (missed cycles : 2).[0m ×2 + 13.25sWARNcontroller_managerOverrun might occur, Total time : 2790.688 us (Expected < 1666.667 us) --> Read time : 201.619 us, Update time : 1170.009 us, Write time : 1419.060 us + 13.25sWARNros2_control_nodeOverrun might occur, Total time : 2790.688 us (Expected < 1666.667 us) --> Read time : 201.619 us, Update time : 1170.009 us, Write time : 1419.060 us[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.286258 ms (missed cycles : 8). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.286258 ms (missed cycles : 8).[0m ×2 + 14.29sWARNcontroller_managerOverrun might occur, Total time : 7385.382 us (Expected < 1666.667 us) --> Read time : 204.578 us, Update time : 6596.109 us, Write time : 584.695 us + 14.29sWARNros2_control_nodeOverrun might occur, Total time : 7385.382 us (Expected < 1666.667 us) --> Read time : 204.578 us, Update time : 6596.109 us, Write time : 584.695 us[0m ×2 + 14.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144168 ms (missed cycles : 2). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144168 ms (missed cycles : 2).[0m ×2 + 14.54sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780602356.73639894 seconds ×3 + 15.18sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602357.37897158 seconds. ×3 + 15.34sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 15.34sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.36sINFOros2_control_node[2026-06-04 19:45:57.552] [info] Received new action goal ×2 + 15.36sINFOros2_control_node[2026-06-04 19:45:57.552] [info] Accepted new action goal ×2 + 15.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479647 ms (missed cycles : 5). + 15.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479647 ms (missed cycles : 5).[0m ×2 + 15.62sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 15.62sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 15.96sWARNcontroller_managerOverrun might occur, Total time : 9439.029 us (Expected < 1666.667 us) --> Read time : 179.748 us, Update time : 8627.685 us, Write time : 631.596 us + 15.96sWARNros2_control_nodeOverrun might occur, Total time : 9439.029 us (Expected < 1666.667 us) --> Read time : 179.748 us, Update time : 8627.685 us, Write time : 631.596 us[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109450 ms (missed cycles : 2). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109450 ms (missed cycles : 2).[0m ×2 + 16.62sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 16.63sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.68sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 16.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 16.68sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 16.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 16.99sWARNcontroller_managerOverrun might occur, Total time : 2182.512 us (Expected < 1666.667 us) --> Read time : 299.802 us, Update time : 854.266 us, Write time : 1028.444 us + 17.00sWARNros2_control_nodeOverrun might occur, Total time : 2182.512 us (Expected < 1666.667 us) --> Read time : 299.802 us, Update time : 854.266 us, Write time : 1028.444 us[0m ×2 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749585 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749585 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.3s | 59 errors · 66 warnings · 292 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2).[0m ×2 + 0.07sWARNcontroller_managerOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us + 0.07sWARNros2_control_nodeOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us[0m ×2 + 0.69sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Got request to cancel active goal. ×2 + 0.69sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Canceling active goal... ×2 + 0.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602535.62266707 seconds ×3 + 0.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.71sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2).[0m ×2 + 1.25sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602536.18629217 seconds. ×3 + 1.35sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 1.35sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3).[0m ×2 + 2.13sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602537.05669403 seconds ×3 + 2.56sWARNcontroller_managerOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us + 2.56sWARNros2_control_nodeOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602537.62023520 seconds. ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.69sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 2.69sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.69sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602537.62202740 seconds ×3 + 2.86sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.86sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 2.86sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.86sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602538.19249177 seconds. ×3 + 3.26sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602538.19299746 seconds ×3 + 3.36sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 3.36sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602538.91050053 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4).[0m ×2 + 4.38sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 4.38sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 4.59sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780602539.52064371 seconds ×3 + 4.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.78sWARNcontroller_managerOverrun might occur, Total time : 3821.343 us (Expected < 1666.667 us) --> Read time : 239.411 us, Update time : 51.402 us, Write time : 3530.530 us + 4.88sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961675 ms (missed cycles : 2). + 5.65sWARNros2_control_nodeOverrun might occur, Total time : 3821.343 us (Expected < 1666.667 us) --> Read time : 239.411 us, Update time : 51.402 us, Write time : 3530.530 us[0m ×2 + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961675 ms (missed cycles : 2).[0m ×2 + 5.65sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 6.04sWARNcontroller_managerOverrun might occur, Total time : 1695.452 us (Expected < 1666.667 us) --> Read time : 172.368 us, Update time : 231.339 us, Write time : 1291.745 us + 6.04sWARNros2_control_nodeOverrun might occur, Total time : 1695.452 us (Expected < 1666.667 us) --> Read time : 172.368 us, Update time : 231.339 us, Write time : 1291.745 us[0m ×2 + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952735 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952735 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911002 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911002 ms (missed cycles : 3).[0m ×2 + 7.26sWARNcontroller_managerOverrun might occur, Total time : 3602.873 us (Expected < 1666.667 us) --> Read time : 187.858 us, Update time : 66.093 us, Write time : 3348.922 us + 7.27sWARNros2_control_nodeOverrun might occur, Total time : 3602.873 us (Expected < 1666.667 us) --> Read time : 187.858 us, Update time : 66.093 us, Write time : 3348.922 us[0m ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683605 ms (missed cycles : 3). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683605 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun might occur, Total time : 10445.984 us (Expected < 1666.667 us) --> Read time : 270.222 us, Update time : 9554.435 us, Write time : 621.327 us + 8.70sWARNros2_control_nodeOverrun might occur, Total time : 10445.984 us (Expected < 1666.667 us) --> Read time : 270.222 us, Update time : 9554.435 us, Write time : 621.327 us[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.905430 ms (missed cycles : 7). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.905430 ms (missed cycles : 7).[0m ×2 + 9.74sWARNcontroller_managerOverrun might occur, Total time : 2059.928 us (Expected < 1666.667 us) --> Read time : 229.260 us, Update time : 40.452 us, Write time : 1790.216 us + 9.74sWARNros2_control_nodeOverrun might occur, Total time : 2059.928 us (Expected < 1666.667 us) --> Read time : 229.260 us, Update time : 40.452 us, Write time : 1790.216 us[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258452 ms (missed cycles : 2). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258452 ms (missed cycles : 2).[0m ×2 + 10.65sERRORweb_video_server-20process[web_video_server-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORtf2_web_republisher_node-19process[tf2_web_republisher_node-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORfoxglove_bridge-18process[foxglove_bridge-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.66sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.67sINFOweb_video_server-20sending signal 'SIGTERM' to process[web_video_server-20] ×2 + 10.68sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.68sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.69sINFOtf2_web_republisher_node-19sending signal 'SIGTERM' to process[tf2_web_republisher_node-19] ×2 + 10.69sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.70sINFOfoxglove_bridge-18sending signal 'SIGTERM' to process[foxglove_bridge-18] ×2 + 10.71sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 10.72sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 10.73sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.73sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.74sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.75sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.75sWARNcontroller_managerOverrun might occur, Total time : 5306.345 us (Expected < 1666.667 us) --> Read time : 315.164 us, Update time : 4395.516 us, Write time : 595.665 us + 10.76sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.77sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.78sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.79sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.80sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.81sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.81sINFOcontroller_managerShutdown request received.... + 10.81sINFOfoxglove_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.81sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.81sINFOfoxglove_bridgeShutting down foxglove_bridge[0m ×2 + 10.81sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.81sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.81sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.81sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.81sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.81sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.81sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.81sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.81sINFOui_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 + 10.81sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.81sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.81sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.81sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.81sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.81sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.82sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.82sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.82sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.82sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.82sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.82sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.82sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.82sINFOcontroller_managerShutting down the controller manager. + 10.82sWARNros2_control_nodeOverrun might occur, Total time : 5306.345 us (Expected < 1666.667 us) --> Read time : 315.164 us, Update time : 4395.516 us, Write time : 595.665 us[0m ×2 + 10.82sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.82sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.82sERRORmove_groupStack trace (most recent call last) in thread 9921: ×2 + 10.82sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.82sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1800175a63, in __clone ×2 + 10.82sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f18000e8aa3, in ×2 + 10.82sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f180037adb3, in ×2 + 10.82sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f18009cf18a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.82sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.82sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.82sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.82sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f18006ed4d0, in rclcpp::Rate::sleep() ×2 + 10.82sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1800640a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.82sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1800605a71, in ×2 + 10.82sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1800349390, in __cxa_throw ×2 + 10.82sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1800333a54, in std::terminate() ×2 + 10.82sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f18003490d9, in ×2 + 10.82sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1800333ff4, in ×2 + 10.82sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f18000748fe, in abort ×2 + 10.82sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f180009127d, in raise ×2 + 10.82sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f18000eab2c, in pthread_kill ×2 + 10.82sERRORmove_groupAborted (Signal sent by tkill() 9669 0) ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.82sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.82sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.82sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.82sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.82sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.83sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.83sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.83sERRORmove_group-9process has died [pid 9669, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level error --ros-args --params-file /tmp/launch_params_hh_f27m_ --params-file /tmp/launch_params_4dtve7e0 --params-file /tmp/launch_params_2l6omsjr --params-file /tmp/launch_params_z9kuv9zq --params-file /tmp/launch_params_d1_z0xjq --params-file /tmp/launch_params_xrt1ikep --params-file /tmp/launch_params_0msqbzpx --params-file /tmp/launch_params_zqfboxy0 --params-file /tmp/launch_params_90rbz17r']. ×2 + 10.88sINFOobjective_server_node[0;m[2026-06-04 19:49:05.811] [moveit_pro_license] [info] ×2 + 10.88sINFOobjective_server_node************************************************* ×4 + 10.88sINFOobjective_server_node* MoveIt Pro License ×2 + 10.88sINFOobjective_server_node* Application has successfully terminated ×2 + 10.93sINFOfoxglove_bridgeShutdown complete[0m ×2 + 10.97sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.97sINFOros2_control_nodepublish_async_failures_ 4[0m ×2 + 10.98sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 10.99sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 11.01sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.01sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e67012d6a4, in _start ×2 + 11.01sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff5df31528a, in __libc_start_main ×2 + 11.01sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff5df3151d0, in ×2 + 11.01sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff5df332bbd, in exit ×2 + 11.01sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7ff5df332a75, in ×2 + 11.01sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff5df8044a2, in spdlog::details::registry::~registry() ×2 + 11.01sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff5df80f69d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 11.01sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7ff5df809965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.01sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e670134315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 11.01sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e6701335a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 11.01sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e67012fb7b, in spdlog_ros::RosSink::~RosSink() ×2 + 11.01sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x55e67012dd79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 11.02sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff5dfe87454, in rclcpp::Node::~Node() ×2 + 11.02sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff5dfe42515, in ×2 + 11.02sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff5dfe85d20, in ×2 + 11.02sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff5dfe85c63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 11.02sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff5dfe425d9, in ×2 + 11.02sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7ff5dfe47161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 11.02sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7ff58bfe1a88]) ×2 + 11.71sINFOweb_video_server-20process has finished cleanly [pid 9794] ×2 + 11.74sINFOtf2_web_republisher_node-19process has finished cleanly [pid 9679] ×2 + 11.74sINFOlaunchprocess[tf2_web_republisher_node-19] was required: shutting down launched system ×2 + 11.74sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.80sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 9673] ×2 + 11.80sINFOmove_joint_resampler_node-12process has finished cleanly [pid 9672] ×2 + 11.83sERRORui_teleop_bridge-17process has died [pid 9677, 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_qfi7wese']. ×2 + 11.84sINFOexecute_objective_bridge-16process has finished cleanly [pid 9676] ×2 + 11.85sINFOparameter_manager_node-10process has finished cleanly [pid 9670] ×2 + 11.85sINFOwaypoint_manager_node-11process has finished cleanly [pid 9671] ×2 + 12.13sERRORobjective_server_node_main-14process has died [pid 9674, exit code -11, cmd '/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main --ros-args --log-level error --ros-args --params-file /tmp/launch_params_7e39ec6n --params-file /tmp/launch_params_0kn7yun_ --params-file /tmp/launch_params_2vnqzlj3 --params-file /tmp/launch_params_k135bzws --params-file /tmp/launch_params_a_gimd83 --params-file /tmp/launch_params_azbxwzy5']. ×2 + 12.13sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 12.90sINFOcomponent_container_mt-15process has finished cleanly [pid 9675] ×2 + 12.97sINFOfoxglove_bridge-18process has finished cleanly [pid 9678] ×2 + 12.97sINFOlaunchprocess[foxglove_bridge-18] was required: shutting down launched system ×2 + 13.62sINFOros2_control_node-1process has finished cleanly [pid 9625] ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 11.2s | 3 errors · 102 warnings · 124 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us[0m ×2 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780602242.27380633 seconds ×3 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780602242.87040591 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780602242.95056129 seconds ×3 + 3.30sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780602243.56900406 seconds. ×3 + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×4 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6).[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us[0m ×2 + 7.27sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 7.27sINFOobjective_server_nodePath shortcutter: [X_______X] ×8 + 7.28sINFOros2_control_node[2026-06-04 19:44:07.033] [info] Received new action goal ×2 + 7.28sINFOros2_control_node[2026-06-04 19:44:07.033] [info] Accepted new action goal ×2 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.094893 ms (missed cycles : 6). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.094893 ms (missed cycles : 6).[0m ×2 + 7.78sWARNcontroller_managerOverrun might occur, Total time : 1925.161 us (Expected < 1666.667 us) --> Read time : 713.700 us, Update time : 328.334 us, Write time : 883.127 us + 7.78sWARNros2_control_nodeOverrun might occur, Total time : 1925.161 us (Expected < 1666.667 us) --> Read time : 713.700 us, Update time : 328.334 us, Write time : 883.127 us[0m ×2 + 8.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.559570 ms (missed cycles : 7). + 8.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.559570 ms (missed cycles : 7).[0m ×2 + 8.98sWARNcontroller_managerOverrun might occur, Total time : 1727.193 us (Expected < 1666.667 us) --> Read time : 745.562 us, Update time : 82.223 us, Write time : 899.408 us + 8.98sWARNros2_control_nodeOverrun might occur, Total time : 1727.193 us (Expected < 1666.667 us) --> Read time : 745.562 us, Update time : 82.223 us, Write time : 899.408 us[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902896 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.902896 ms (missed cycles : 2).[0m ×2 + 9.62sINFOros2_control_node[2026-06-04 19:44:09.380] [info] Received new action goal ×2 + 9.62sINFOros2_control_node[2026-06-04 19:44:09.380] [info] Accepted new action goal ×2 + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731774 ms (missed cycles : 4). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731774 ms (missed cycles : 4).[0m ×2 + 10.73sWARNcontroller_managerOverrun might occur, Total time : 1748.503 us (Expected < 1666.667 us) --> Read time : 220.879 us, Update time : 170.827 us, Write time : 1356.797 us + 10.73sWARNros2_control_nodeOverrun might occur, Total time : 1748.503 us (Expected < 1666.667 us) --> Read time : 220.879 us, Update time : 170.827 us, Write time : 1356.797 us[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 11.78sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 11.78sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 11.96sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 11.98sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 11.98sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 12.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 13.11sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 13.11sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 13.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 14.16sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 14.17sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 14.32sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 14.35sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 14.35sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 14.36sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 14.36sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 14.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 14.97sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 15.27sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 15.27sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 15.42sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 15.42sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 15.42sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 15.42sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 16.11sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.12sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 16.12sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 16.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 16.61sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 16.61sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 17.05sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 17.70sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 17.70sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.2s | 3 errors · 99 warnings · 95 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371931 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371931 ms (missed cycles : 2).[0m ×2 + 0.42sWARNcontroller_managerOverrun might occur, Total time : 1667.412 us (Expected < 1666.667 us) --> Read time : 253.671 us, Update time : 84.914 us, Write time : 1328.827 us + 0.42sWARNros2_control_nodeOverrun might occur, Total time : 1667.412 us (Expected < 1666.667 us) --> Read time : 253.671 us, Update time : 84.914 us, Write time : 1328.827 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969698 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969698 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 5294.077 us (Expected < 1666.667 us) --> Read time : 219.669 us, Update time : 4579.757 us, Write time : 494.651 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 5294.077 us (Expected < 1666.667 us) --> Read time : 219.669 us, Update time : 4579.757 us, Write time : 494.651 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567769 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780602511.97216320 seconds ×3 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 1720.544 us (Expected < 1666.667 us) --> Read time : 284.153 us, Update time : 58.892 us, Write time : 1377.499 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1720.544 us (Expected < 1666.667 us) --> Read time : 284.153 us, Update time : 58.892 us, Write time : 1377.499 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698157 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698157 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780602512.60286379 seconds. ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.55sINFOros2_control_node[2026-06-04 19:48:32.737] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-06-04 19:48:32.737] [info] Accepted new action goal ×2 + 3.86sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 3.86sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 2474.456 us (Expected < 1666.667 us) --> Read time : 321.764 us, Update time : 1464.193 us, Write time : 688.499 us + 3.93sWARNros2_control_nodeOverrun might occur, Total time : 2474.456 us (Expected < 1666.667 us) --> Read time : 321.764 us, Update time : 1464.193 us, Write time : 688.499 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157086 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157086 ms (missed cycles : 6).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 1764.826 us (Expected < 1666.667 us) --> Read time : 223.960 us, Update time : 999.523 us, Write time : 541.343 us + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925346 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 1764.826 us (Expected < 1666.667 us) --> Read time : 223.960 us, Update time : 999.523 us, Write time : 541.343 us[0m ×2 + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925346 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125315 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125315 ms (missed cycles : 3).[0m ×2 + 6.37sWARNcontroller_managerOverrun might occur, Total time : 8878.210 us (Expected < 1666.667 us) --> Read time : 166.567 us, Update time : 8159.270 us, Write time : 552.373 us + 6.37sWARNros2_control_nodeOverrun might occur, Total time : 8878.210 us (Expected < 1666.667 us) --> Read time : 166.567 us, Update time : 8159.270 us, Write time : 552.373 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.514869 ms (missed cycles : 6). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.514869 ms (missed cycles : 6).[0m ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 9787.500 us (Expected < 1666.667 us) --> Read time : 199.878 us, Update time : 46.192 us, Write time : 9541.430 us + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 9787.500 us (Expected < 1666.667 us) --> Read time : 199.878 us, Update time : 46.192 us, Write time : 9541.430 us[0m ×2 + 8.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388014 ms (missed cycles : 4). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.388014 ms (missed cycles : 4).[0m ×2 + 8.58sWARNcontroller_managerOverrun might occur, Total time : 1813.128 us (Expected < 1666.667 us) --> Read time : 814.325 us, Update time : 82.374 us, Write time : 916.429 us + 8.58sWARNros2_control_nodeOverrun might occur, Total time : 1813.128 us (Expected < 1666.667 us) --> Read time : 814.325 us, Update time : 82.374 us, Write time : 916.429 us[0m ×2 + 9.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328872 ms (missed cycles : 2). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.328872 ms (missed cycles : 2).[0m ×2 + 9.95sWARNcontroller_managerOverrun might occur, Total time : 1735.685 us (Expected < 1666.667 us) --> Read time : 706.980 us, Update time : 40.522 us, Write time : 988.183 us + 9.95sWARNros2_control_nodeOverrun might occur, Total time : 1735.685 us (Expected < 1666.667 us) --> Read time : 706.980 us, Update time : 40.522 us, Write time : 988.183 us[0m ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2).[0m ×2 + 11.07sWARNcontroller_managerOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us + 11.07sWARNros2_control_nodeOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us[0m ×2 + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2).[0m ×2 + 12.25sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 12.25sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 12.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 12.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 13.39sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 13.40sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 13.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 13.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 13.94sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 14.42sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 14.42sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 14.51sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 14.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 14.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 14.66sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.66sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.66sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.66sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.69sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.69sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 14.71sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 14.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 14.71sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 14.71sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 14.97sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.97sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.28sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 15.30sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 15.30sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 15.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 15.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 15.65sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 15.65sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 15.98sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 16.08sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 16.09sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 16.10sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 16.10sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 16.77sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 16.77sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 6 errors · 99 warnings · 186 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751592 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751592 ms (missed cycles : 5).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 2251.315 us (Expected < 1666.667 us) --> Read time : 263.241 us, Update time : 731.400 us, Write time : 1256.674 us + 0.19sWARNros2_control_nodeOverrun might occur, Total time : 2251.315 us (Expected < 1666.667 us) --> Read time : 263.241 us, Update time : 731.400 us, Write time : 1256.674 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934458 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934458 ms (missed cycles : 3).[0m ×2 + 1.38sWARNcontroller_managerOverrun might occur, Total time : 4226.859 us (Expected < 1666.667 us) --> Read time : 182.398 us, Update time : 3475.077 us, Write time : 569.384 us + 1.39sWARNros2_control_nodeOverrun might occur, Total time : 4226.859 us (Expected < 1666.667 us) --> Read time : 182.398 us, Update time : 3475.077 us, Write time : 569.384 us[0m ×2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 1.58sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×4 + 1.59sINFOobjective_server_nodeFound detection with id: 0, label: %s ×6 + 1.80sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 1.80sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m ×2 + 1.87sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 1.87sINFOobjective_server_nodePath shortcutter: [X__________X] ×4 + 1.88sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 1.88sINFOobjective_server_nodePath shortcutter: [X________________X] ×4 + 1.90sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 1.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×4 + 1.94sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 1.97sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×4 + 1.98sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×4 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098913 ms (missed cycles : 5). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098913 ms (missed cycles : 5).[0m ×2 + 2.04sINFOobjective_server_nodeFound path in 1 iterations (0.00288689 s). ×2 + 2.12sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×4 + 2.15sINFOobjective_server_nodeFound path in 1 iterations (0.00394966 s). ×2 + 2.22sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×4 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 2.33sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×4 + 2.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 2.36sINFOros2_control_node[2026-06-04 19:44:24.838] [info] Received new action goal ×2 + 2.36sINFOros2_control_node[2026-06-04 19:44:24.838] [info] Accepted new action goal ×2 + 2.54sWARNcontroller_managerOverrun might occur, Total time : 5755.903 us (Expected < 1666.667 us) --> Read time : 293.323 us, Update time : 4856.075 us, Write time : 606.505 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5755.903 us (Expected < 1666.667 us) --> Read time : 293.323 us, Update time : 4856.075 us, Write time : 606.505 us[0m ×2 + 2.65sINFOros2_control_node[2026-06-04 19:44:25.121] [info] Got request to cancel active goal. ×2 + 2.65sINFOros2_control_node[2026-06-04 19:44:25.121] [info] Canceling active goal... ×2 + 2.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780602265.12906408 seconds ×3 + 2.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.66sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675965 ms (missed cycles : 4). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675965 ms (missed cycles : 4).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780602265.72411895 seconds. ×3 + 3.25sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.25sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.33sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.33sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.34sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.34sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.44sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 3.44sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.46sINFOros2_control_node[2026-06-04 19:44:25.938] [info] Received new action goal ×2 + 3.46sINFOros2_control_node[2026-06-04 19:44:25.938] [info] Accepted new action goal ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 1926.291 us (Expected < 1666.667 us) --> Read time : 201.288 us, Update time : 1304.466 us, Write time : 420.537 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 1926.291 us (Expected < 1666.667 us) --> Read time : 201.288 us, Update time : 1304.466 us, Write time : 420.537 us[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254494 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254494 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 1781.365 us (Expected < 1666.667 us) --> Read time : 780.793 us, Update time : 89.964 us, Write time : 910.608 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 1781.365 us (Expected < 1666.667 us) --> Read time : 780.793 us, Update time : 89.964 us, Write time : 910.608 us[0m ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762150 ms (missed cycles : 4). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762150 ms (missed cycles : 4).[0m ×2 + 5.90sWARNcontroller_managerOverrun might occur, Total time : 6362.009 us (Expected < 1666.667 us) --> Read time : 223.019 us, Update time : 201.089 us, Write time : 5937.901 us + 5.90sWARNros2_control_nodeOverrun might occur, Total time : 6362.009 us (Expected < 1666.667 us) --> Read time : 223.019 us, Update time : 201.089 us, Write time : 5937.901 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274855 ms (missed cycles : 2). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274855 ms (missed cycles : 2).[0m ×2 + 6.90sWARNcontroller_managerOverrun might occur, Total time : 1686.332 us (Expected < 1666.667 us) --> Read time : 177.448 us, Update time : 280.932 us, Write time : 1227.952 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1686.332 us (Expected < 1666.667 us) --> Read time : 177.448 us, Update time : 280.932 us, Write time : 1227.952 us[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448540 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.448540 ms (missed cycles : 2).[0m ×2 + 7.97sWARNcontroller_managerOverrun might occur, Total time : 7072.849 us (Expected < 1666.667 us) --> Read time : 197.878 us, Update time : 6320.627 us, Write time : 554.344 us + 7.97sWARNros2_control_nodeOverrun might occur, Total time : 7072.849 us (Expected < 1666.667 us) --> Read time : 197.878 us, Update time : 6320.627 us, Write time : 554.344 us[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831537 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.831537 ms (missed cycles : 4).[0m ×2 + 8.89sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution" + 8.89sINFOfoxglove_bridgeAdvertising new channel 73 for topic "/solution"[0m ×2 + 9.14sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.15sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×4 + 9.21sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 9.31sWARNcontroller_managerOverrun might occur, Total time : 2004.715 us (Expected < 1666.667 us) --> Read time : 192.648 us, Update time : 1413.450 us, Write time : 398.617 us + 9.31sWARNros2_control_nodeOverrun might occur, Total time : 2004.715 us (Expected < 1666.667 us) --> Read time : 192.648 us, Update time : 1413.450 us, Write time : 398.617 us[0m ×2 + 9.32sINFOobjective_server_nodeFound path in 1 iterations (0.00288504 s). ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247228 ms (missed cycles : 5). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.247228 ms (missed cycles : 5).[0m ×2 + 9.43sINFOobjective_server_nodeFound path in 1 iterations (0.00389074 s). ×2 + 9.65sINFOros2_control_node[2026-06-04 19:44:32.125] [info] Received new action goal ×2 + 9.65sINFOros2_control_node[2026-06-04 19:44:32.126] [info] Accepted new action goal ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401309 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401309 ms (missed cycles : 2).[0m ×2 + 10.40sWARNcontroller_managerOverrun might occur, Total time : 3715.607 us (Expected < 1666.667 us) --> Read time : 189.318 us, Update time : 3022.088 us, Write time : 504.201 us + 10.40sWARNros2_control_nodeOverrun might occur, Total time : 3715.607 us (Expected < 1666.667 us) --> Read time : 189.318 us, Update time : 3022.088 us, Write time : 504.201 us[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670849 ms (missed cycles : 4). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670849 ms (missed cycles : 4).[0m ×2 + 11.42sWARNcontroller_managerOverrun might occur, Total time : 6968.194 us (Expected < 1666.667 us) --> Read time : 183.698 us, Update time : 63.012 us, Write time : 6721.484 us + 11.42sWARNros2_control_nodeOverrun might occur, Total time : 6968.194 us (Expected < 1666.667 us) --> Read time : 183.698 us, Update time : 63.012 us, Write time : 6721.484 us[0m ×2 + 12.40sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 12.40sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 12.41sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). ×2 + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889148 ms (missed cycles : 2). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889148 ms (missed cycles : 2).[0m ×2 + 12.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 12.48sINFOobjective_server_nodeFound path in 1 iterations (0.00260259 s). ×2 + 12.57sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 12.62sINFOros2_control_node[2026-06-04 19:44:35.095] [info] Received new action goal ×2 + 12.62sINFOros2_control_node[2026-06-04 19:44:35.095] [info] Accepted new action goal ×2 + 12.97sWARNcontroller_managerOverrun might occur, Total time : 10346.427 us (Expected < 1666.667 us) --> Read time : 228.299 us, Update time : 9625.697 us, Write time : 492.431 us + 12.97sWARNros2_control_nodeOverrun might occur, Total time : 10346.427 us (Expected < 1666.667 us) --> Read time : 228.299 us, Update time : 9625.697 us, Write time : 492.431 us[0m ×2 + 13.06sINFOros2_control_node[2026-06-04 19:44:35.537] [info] Received new action goal ×2 + 13.06sINFOros2_control_node[2026-06-04 19:44:35.537] [info] Accepted new action goal ×2 + 13.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345544 ms (missed cycles : 5). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345544 ms (missed cycles : 5).[0m ×2 + 13.65sINFOros2_control_node[2026-06-04 19:44:36.128] [info] Got request to cancel active goal. ×2 + 13.65sINFOros2_control_node[2026-06-04 19:44:36.128] [info] Canceling active goal... ×2 + 13.67sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780602276.14792013 seconds ×3 + 14.02sWARNcontroller_managerOverrun might occur, Total time : 10119.418 us (Expected < 1666.667 us) --> Read time : 236.130 us, Update time : 66.283 us, Write time : 9817.005 us + 14.02sWARNros2_control_nodeOverrun might occur, Total time : 10119.418 us (Expected < 1666.667 us) --> Read time : 236.130 us, Update time : 66.283 us, Write time : 9817.005 us[0m ×2 + 14.29sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780602276.76472640 seconds. ×3 + 14.45sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 14.46sINFOros2_control_node[2026-06-04 19:44:36.939] [info] Received new action goal ×2 + 14.46sINFOros2_control_node[2026-06-04 19:44:36.939] [info] Accepted new action goal ×2 + 14.48sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.48sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 14.48sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.48sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628207 ms (missed cycles : 7). + 14.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628207 ms (missed cycles : 7).[0m ×2 + 15.11sWARNcontroller_managerOverrun might occur, Total time : 2234.564 us (Expected < 1666.667 us) --> Read time : 891.458 us, Update time : 76.613 us, Write time : 1266.493 us + 15.11sWARNros2_control_nodeOverrun might occur, Total time : 2234.564 us (Expected < 1666.667 us) --> Read time : 891.458 us, Update time : 76.613 us, Write time : 1266.493 us[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807580 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807580 ms (missed cycles : 2).[0m ×2 + 16.25sWARNcontroller_managerOverrun might occur, Total time : 6617.000 us (Expected < 1666.667 us) --> Read time : 220.529 us, Update time : 93.594 us, Write time : 6302.877 us + 16.25sWARNros2_control_nodeOverrun might occur, Total time : 6617.000 us (Expected < 1666.667 us) --> Read time : 220.529 us, Update time : 93.594 us, Write time : 6302.877 us[0m ×2 + 16.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695099 ms (missed cycles : 4). + 16.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695099 ms (missed cycles : 4).[0m ×2 + 16.93sINFOros2_control_node[2026-06-04 19:44:39.403] [info] Received new action goal ×2 + 16.93sINFOros2_control_node[2026-06-04 19:44:39.403] [info] Accepted new action goal ×2 + 17.26sWARNcontroller_managerOverrun might occur, Total time : 5417.458 us (Expected < 1666.667 us) --> Read time : 201.358 us, Update time : 4703.188 us, Write time : 512.912 us + 17.27sWARNros2_control_nodeOverrun might occur, Total time : 5417.458 us (Expected < 1666.667 us) --> Read time : 201.358 us, Update time : 4703.188 us, Write time : 512.912 us[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.0s | 6 errors · 102 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 1.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 2.72sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.72sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 3.05sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.85sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364922 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364922 ms (missed cycles : 4).[0m ×2 + 7.14sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.15sINFOros2_control_node[2026-06-04 19:48:48.581] [info] Received new action goal ×2 + 7.15sINFOros2_control_node[2026-06-04 19:48:48.581] [info] Accepted new action goal ×2 + 7.15sINFOros2_control_node[2026-06-04 19:48:48.582] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 7.20sWARNcontroller_managerOverrun might occur, Total time : 2872.014 us (Expected < 1666.667 us) --> Read time : 212.659 us, Update time : 1943.054 us, Write time : 716.301 us + 7.20sWARNros2_control_nodeOverrun might occur, Total time : 2872.014 us (Expected < 1666.667 us) --> Read time : 212.659 us, Update time : 1943.054 us, Write time : 716.301 us[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140588 ms (missed cycles : 3). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.140588 ms (missed cycles : 3).[0m ×2 + 8.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574208 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574208 ms (missed cycles : 5).[0m ×2 + 8.49sWARNcontroller_managerOverrun might occur, Total time : 2532.739 us (Expected < 1666.667 us) --> Read time : 197.478 us, Update time : 1875.111 us, Write time : 460.150 us + 8.49sWARNros2_control_nodeOverrun might occur, Total time : 2532.739 us (Expected < 1666.667 us) --> Read time : 197.478 us, Update time : 1875.111 us, Write time : 460.150 us[0m ×2 + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696356 ms (missed cycles : 2). + 9.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696356 ms (missed cycles : 2).[0m ×2 + 9.51sWARNcontroller_managerOverrun might occur, Total time : 2162.783 us (Expected < 1666.667 us) --> Read time : 252.961 us, Update time : 123.306 us, Write time : 1786.516 us + 9.51sWARNros2_control_nodeOverrun might occur, Total time : 2162.783 us (Expected < 1666.667 us) --> Read time : 252.961 us, Update time : 123.306 us, Write time : 1786.516 us[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2).[0m ×2 + 10.86sWARNcontroller_managerOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us + 10.86sWARNros2_control_nodeOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us[0m ×2 + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5).[0m ×2 + 11.95sWARNcontroller_managerOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us + 11.96sWARNros2_control_nodeOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us[0m ×2 + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2).[0m ×2 + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2).[0m ×2 + 13.57sWARNcontroller_managerOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us + 13.57sWARNros2_control_nodeOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us[0m ×2 + 14.19sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Got request to cancel active goal. ×2 + 14.19sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Canceling active goal... ×2 + 14.19sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602535.62266707 seconds ×3 + 14.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2). + 14.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2).[0m ×2 + 14.75sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602536.18629217 seconds. ×3 + 14.84sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 14.84sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 14.95sWARNcontroller_managerOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us + 14.95sWARNros2_control_nodeOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us[0m ×2 + 15.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3). + 15.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3).[0m ×2 + 15.62sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602537.05669403 seconds ×3 + 16.06sWARNcontroller_managerOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us + 16.06sWARNros2_control_nodeOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us[0m ×2 + 16.19sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602537.62023520 seconds. ×3 + 16.19sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 16.19sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 16.19sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 16.19sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602537.62202740 seconds ×3 + 16.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 16.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 16.36sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 16.36sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3).[0m ×2 + 16.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602538.19249177 seconds. ×3 + 16.76sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602538.19299746 seconds ×3 + 16.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 16.86sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 17.06sWARNcontroller_managerOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us + 17.06sWARNros2_control_nodeOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 99 warnings · 116 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2).[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us + 2.64sWARNros2_control_nodeOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us[0m ×2 + 2.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602479.44338179 seconds ×3 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.78sWARNcontroller_managerOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us + 3.78sWARNros2_control_nodeOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us[0m ×2 + 4.24sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.24sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602480.19582129 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.48sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Accepted new action goal ×2 + 4.75sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.75sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 4.75sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.75sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2).[0m ×2 + 7.19sWARNcontroller_managerOverrun might occur, Total time : 2240.605 us (Expected < 1666.667 us) --> Read time : 514.322 us, Update time : 1201.011 us, Write time : 525.272 us + 7.19sWARNros2_control_nodeOverrun might occur, Total time : 2240.605 us (Expected < 1666.667 us) --> Read time : 514.322 us, Update time : 1201.011 us, Write time : 525.272 us[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137585 ms (missed cycles : 3). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137585 ms (missed cycles : 3).[0m ×2 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753218 ms (missed cycles : 4). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753218 ms (missed cycles : 4).[0m ×2 + 8.64sWARNcontroller_managerOverrun might occur, Total time : 1891.130 us (Expected < 1666.667 us) --> Read time : 211.428 us, Update time : 1208.222 us, Write time : 471.480 us + 8.65sWARNros2_control_nodeOverrun might occur, Total time : 1891.130 us (Expected < 1666.667 us) --> Read time : 211.428 us, Update time : 1208.222 us, Write time : 471.480 us[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894132 ms (missed cycles : 4). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.894132 ms (missed cycles : 4).[0m ×2 + 9.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.40sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 9.40sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 9.67sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 9.68sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 9.68sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 9.69sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 9.74sINFOobjective_server_nodeFound path in 1 iterations (0.00325311 s). ×2 + 9.80sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution" + 9.80sINFOfoxglove_bridgeAdvertising new channel 83 for topic "/solution"[0m ×2 + 9.83sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 9.84sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 9.88sINFOros2_control_node[2026-06-04 19:48:05.829] [info] Received new action goal ×2 + 9.88sINFOros2_control_node[2026-06-04 19:48:05.829] [info] Accepted new action goal ×2 + 9.93sWARNcontroller_managerOverrun might occur, Total time : 8211.397 us (Expected < 1666.667 us) --> Read time : 272.282 us, Update time : 7340.290 us, Write time : 598.825 us + 9.93sWARNros2_control_nodeOverrun might occur, Total time : 8211.397 us (Expected < 1666.667 us) --> Read time : 272.282 us, Update time : 7340.290 us, Write time : 598.825 us[0m ×2 + 10.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.911565 ms (missed cycles : 7). + 10.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.911565 ms (missed cycles : 7).[0m ×2 + 10.93sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 10.93sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 11.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 11.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 12.28sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 12.28sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 12.41sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 12.41sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 12.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 13.46sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 13.47sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 14.17sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 14.18sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 14.18sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 14.57sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 14.57sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 14.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 14.58sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 14.64sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 14.64sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 15.24sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 15.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 15.38sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 15.38sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.38sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 15.41sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 15.41sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.42sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 15.42sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 15.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 15.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 15.69sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 15.69sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 17.02sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 17.02sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 17.35sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 17.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 11.0s | 6 errors · 102 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764803 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764803 ms (missed cycles : 2).[0m ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 4493.830 us (Expected < 1666.667 us) --> Read time : 315.614 us, Update time : 67.762 us, Write time : 4110.454 us + 7.38sWARNros2_control_nodeOverrun might occur, Total time : 4493.830 us (Expected < 1666.667 us) --> Read time : 315.614 us, Update time : 67.762 us, Write time : 4110.454 us[0m ×2 + 8.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749122 ms (missed cycles : 2). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749122 ms (missed cycles : 2).[0m ×2 + 8.39sWARNcontroller_managerOverrun might occur, Total time : 3797.740 us (Expected < 1666.667 us) --> Read time : 211.529 us, Update time : 3005.136 us, Write time : 581.075 us + 8.40sWARNros2_control_nodeOverrun might occur, Total time : 3797.740 us (Expected < 1666.667 us) --> Read time : 211.529 us, Update time : 3005.136 us, Write time : 581.075 us[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303717 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.303717 ms (missed cycles : 3).[0m ×2 + 9.41sWARNcontroller_managerOverrun might occur, Total time : 2004.865 us (Expected < 1666.667 us) --> Read time : 185.698 us, Update time : 69.483 us, Write time : 1749.684 us + 9.41sWARNros2_control_nodeOverrun might occur, Total time : 2004.865 us (Expected < 1666.667 us) --> Read time : 185.698 us, Update time : 69.483 us, Write time : 1749.684 us[0m ×2 + 9.56sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures" + 9.56sINFOfoxglove_bridgeAdvertising new channel 71 for topic "/pcd_pointcloud_captures"[0m ×2 + 10.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 10.07sINFOfoxglove_bridgeRemoving channel 71 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713937 ms (missed cycles : 3). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.713937 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun might occur, Total time : 1927.462 us (Expected < 1666.667 us) --> Read time : 203.519 us, Update time : 1310.665 us, Write time : 413.278 us + 10.44sWARNros2_control_nodeOverrun might occur, Total time : 1927.462 us (Expected < 1666.667 us) --> Read time : 203.519 us, Update time : 1310.665 us, Write time : 413.278 us[0m ×2 + 11.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751592 ms (missed cycles : 5). + 11.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.751592 ms (missed cycles : 5).[0m ×2 + 11.50sWARNcontroller_managerOverrun might occur, Total time : 2251.315 us (Expected < 1666.667 us) --> Read time : 263.241 us, Update time : 731.400 us, Write time : 1256.674 us + 11.50sWARNros2_control_nodeOverrun might occur, Total time : 2251.315 us (Expected < 1666.667 us) --> Read time : 263.241 us, Update time : 731.400 us, Write time : 1256.674 us[0m ×2 + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934458 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934458 ms (missed cycles : 3).[0m ×2 + 12.69sWARNcontroller_managerOverrun might occur, Total time : 4226.859 us (Expected < 1666.667 us) --> Read time : 182.398 us, Update time : 3475.077 us, Write time : 569.384 us + 12.70sWARNros2_control_nodeOverrun might occur, Total time : 4226.859 us (Expected < 1666.667 us) --> Read time : 182.398 us, Update time : 3475.077 us, Write time : 569.384 us[0m ×2 + 12.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 12.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 12.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.11sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution" + 13.11sINFOfoxglove_bridgeAdvertising new channel 72 for topic "/solution"[0m ×2 + 13.18sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 13.18sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.19sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 13.21sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.23sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.25sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 13.27sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 13.29sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.33sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098913 ms (missed cycles : 5). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.098913 ms (missed cycles : 5).[0m ×2 + 13.35sINFOobjective_server_nodeFound path in 1 iterations (0.00288689 s). ×2 + 13.43sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 13.46sINFOobjective_server_nodeFound path in 1 iterations (0.00394966 s). ×2 + 13.53sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 13.56sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 13.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 13.67sINFOros2_control_node[2026-06-04 19:44:24.838] [info] Received new action goal ×2 + 13.67sINFOros2_control_node[2026-06-04 19:44:24.838] [info] Accepted new action goal ×2 + 13.85sWARNcontroller_managerOverrun might occur, Total time : 5755.903 us (Expected < 1666.667 us) --> Read time : 293.323 us, Update time : 4856.075 us, Write time : 606.505 us + 13.85sWARNros2_control_nodeOverrun might occur, Total time : 5755.903 us (Expected < 1666.667 us) --> Read time : 293.323 us, Update time : 4856.075 us, Write time : 606.505 us[0m ×2 + 13.96sINFOros2_control_node[2026-06-04 19:44:25.121] [info] Got request to cancel active goal. ×2 + 13.96sINFOros2_control_node[2026-06-04 19:44:25.121] [info] Canceling active goal... ×2 + 13.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780602265.12906408 seconds ×3 + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675965 ms (missed cycles : 4). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.675965 ms (missed cycles : 4).[0m ×2 + 14.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780602265.72411895 seconds. ×3 + 14.64sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 14.64sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 14.64sINFOfoxglove_bridgeRemoving channel 72 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.64sINFOfoxglove_bridgeRemoving channel 69 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 14.75sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 14.77sINFOros2_control_node[2026-06-04 19:44:25.938] [info] Received new action goal ×2 + 14.77sINFOros2_control_node[2026-06-04 19:44:25.938] [info] Accepted new action goal ×2 + 15.06sWARNcontroller_managerOverrun might occur, Total time : 1926.291 us (Expected < 1666.667 us) --> Read time : 201.288 us, Update time : 1304.466 us, Write time : 420.537 us + 15.06sWARNros2_control_nodeOverrun might occur, Total time : 1926.291 us (Expected < 1666.667 us) --> Read time : 201.288 us, Update time : 1304.466 us, Write time : 420.537 us[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254494 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.254494 ms (missed cycles : 2).[0m ×2 + 16.12sWARNcontroller_managerOverrun might occur, Total time : 1781.365 us (Expected < 1666.667 us) --> Read time : 780.793 us, Update time : 89.964 us, Write time : 910.608 us + 16.12sWARNros2_control_nodeOverrun might occur, Total time : 1781.365 us (Expected < 1666.667 us) --> Read time : 780.793 us, Update time : 89.964 us, Write time : 910.608 us[0m ×2 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762150 ms (missed cycles : 4). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.762150 ms (missed cycles : 4).[0m ×2 + 17.21sWARNcontroller_managerOverrun might occur, Total time : 6362.009 us (Expected < 1666.667 us) --> Read time : 223.019 us, Update time : 201.089 us, Write time : 5937.901 us + 17.21sWARNros2_control_nodeOverrun might occur, Total time : 6362.009 us (Expected < 1666.667 us) --> Read time : 223.019 us, Update time : 201.089 us, Write time : 5937.901 us[0m ×2 + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274855 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.274855 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 10.9s | 3 errors · 99 warnings · 181 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.01sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.01sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.01sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.07sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.08sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.26sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.26sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 1.65sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.23sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.38sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.07sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.07sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.07sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.07sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.07sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.08sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.12sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.12sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.12sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.12sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.12sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.13sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.41sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.41sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 3.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 3.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 3.71sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 3.71sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.71sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.71sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.71sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.71sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.71sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.71sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.85sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 4.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 4.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 4.64sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 4.64sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 4.84sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.08sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 + 6.25sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.34sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×4 + 6.35sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.36sINFOros2_control_node[2026-06-04 19:43:18.325] [info] Received new action goal ×2 + 6.36sINFOros2_control_node[2026-06-04 19:43:18.325] [info] Accepted new action goal ×2 + 6.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953815 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953815 ms (missed cycles : 3).[0m ×2 + 7.11sWARNcontroller_managerOverrun might occur, Total time : 3549.530 us (Expected < 1666.667 us) --> Read time : 321.193 us, Update time : 2509.857 us, Write time : 718.480 us + 7.11sWARNros2_control_nodeOverrun might occur, Total time : 3549.530 us (Expected < 1666.667 us) --> Read time : 321.193 us, Update time : 2509.857 us, Write time : 718.480 us[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398298 ms (missed cycles : 3). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398298 ms (missed cycles : 3).[0m ×2 + 8.47sWARNcontroller_managerOverrun might occur, Total time : 5520.024 us (Expected < 1666.667 us) --> Read time : 329.574 us, Update time : 4734.071 us, Write time : 456.379 us + 8.47sWARNros2_control_nodeOverrun might occur, Total time : 5520.024 us (Expected < 1666.667 us) --> Read time : 329.574 us, Update time : 4734.071 us, Write time : 456.379 us[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202279 ms (missed cycles : 5). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.202279 ms (missed cycles : 5).[0m ×2 + 9.57sWARNcontroller_managerOverrun might occur, Total time : 1680.002 us (Expected < 1666.667 us) --> Read time : 538.093 us, Update time : 87.984 us, Write time : 1053.925 us + 9.57sWARNros2_control_nodeOverrun might occur, Total time : 1680.002 us (Expected < 1666.667 us) --> Read time : 538.093 us, Update time : 87.984 us, Write time : 1053.925 us[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956608 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956608 ms (missed cycles : 2).[0m ×2 + 10.11sINFOros2_control_node[2026-06-04 19:43:22.084] [info] Received new action goal ×2 + 10.11sINFOros2_control_node[2026-06-04 19:43:22.084] [info] Accepted new action goal ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993860 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993860 ms (missed cycles : 2).[0m ×2 + 10.77sWARNcontroller_managerOverrun might occur, Total time : 3570.291 us (Expected < 1666.667 us) --> Read time : 349.104 us, Update time : 79.164 us, Write time : 3142.023 us + 10.77sWARNros2_control_nodeOverrun might occur, Total time : 3570.291 us (Expected < 1666.667 us) --> Read time : 349.104 us, Update time : 79.164 us, Write time : 3142.023 us[0m ×2 + 11.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 11.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 12.19sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 12.20sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 13.35sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 13.35sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 13.44sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 13.44sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.45sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 13.45sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 13.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 14.06sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 14.06sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 14.08sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 14.63sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 14.63sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 14.64sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 14.77sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 15.42sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 15.67sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 15.67sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 15.79sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 15.79sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 16.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 16.55sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 16.56sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.57sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 16.57sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 17.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 17.07sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 17.07sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 10.9s | 6 errors · 96 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 + 7.17sWARNcontroller_managerOverrun might occur, Total time : 2433.933 us (Expected < 1666.667 us) --> Read time : 188.538 us, Update time : 1516.994 us, Write time : 728.401 us + 7.17sWARNros2_control_nodeOverrun might occur, Total time : 2433.933 us (Expected < 1666.667 us) --> Read time : 188.538 us, Update time : 1516.994 us, Write time : 728.401 us[0m ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.055443 ms (missed cycles : 7). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.055443 ms (missed cycles : 7).[0m ×2 + 8.33sWARNcontroller_managerOverrun might occur, Total time : 1985.696 us (Expected < 1666.667 us) --> Read time : 177.508 us, Update time : 101.444 us, Write time : 1706.744 us + 8.34sWARNros2_control_nodeOverrun might occur, Total time : 1985.696 us (Expected < 1666.667 us) --> Read time : 177.508 us, Update time : 101.444 us, Write time : 1706.744 us[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195493 ms (missed cycles : 3). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.195493 ms (missed cycles : 3).[0m ×2 + 9.54sWARNcontroller_managerOverrun might occur, Total time : 1742.185 us (Expected < 1666.667 us) --> Read time : 760.503 us, Update time : 69.993 us, Write time : 911.689 us + 9.55sWARNros2_control_nodeOverrun might occur, Total time : 1742.185 us (Expected < 1666.667 us) --> Read time : 760.503 us, Update time : 69.993 us, Write time : 911.689 us[0m ×2 + 9.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.528491 ms (missed cycles : 6). + 9.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.528491 ms (missed cycles : 6).[0m ×2 + 9.95sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.025 of wall time (1326/95090). Consistently above 1% means the model timestep should be raised.[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.811229 ms (missed cycles : 7). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.811229 ms (missed cycles : 7).[0m ×2 + 10.86sWARNcontroller_managerOverrun might occur, Total time : 6325.142 us (Expected < 1666.667 us) --> Read time : 312.143 us, Update time : 5392.713 us, Write time : 620.286 us + 10.87sWARNros2_control_nodeOverrun might occur, Total time : 6325.142 us (Expected < 1666.667 us) --> Read time : 312.143 us, Update time : 5392.713 us, Write time : 620.286 us[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406560 ms (missed cycles : 3). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406560 ms (missed cycles : 3).[0m ×2 + 11.90sWARNcontroller_managerOverrun might occur, Total time : 2717.596 us (Expected < 1666.667 us) --> Read time : 2056.809 us, Update time : 90.453 us, Write time : 570.334 us + 11.90sWARNros2_control_nodeOverrun might occur, Total time : 2717.596 us (Expected < 1666.667 us) --> Read time : 2056.809 us, Update time : 90.453 us, Write time : 570.334 us[0m ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835592 ms (missed cycles : 6). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835592 ms (missed cycles : 6).[0m ×2 + 13.19sWARNcontroller_managerOverrun might occur, Total time : 1685.633 us (Expected < 1666.667 us) --> Read time : 643.518 us, Update time : 55.813 us, Write time : 986.302 us + 13.20sWARNros2_control_nodeOverrun might occur, Total time : 1685.633 us (Expected < 1666.667 us) --> Read time : 643.518 us, Update time : 55.813 us, Write time : 986.302 us[0m ×2 + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320803 ms (missed cycles : 2). + 13.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320803 ms (missed cycles : 2).[0m ×2 + 14.26sWARNcontroller_managerOverrun might occur, Total time : 7332.696 us (Expected < 1666.667 us) --> Read time : 173.278 us, Update time : 6641.136 us, Write time : 518.282 us + 14.26sWARNros2_control_nodeOverrun might occur, Total time : 7332.696 us (Expected < 1666.667 us) --> Read time : 173.278 us, Update time : 6641.136 us, Write time : 518.282 us[0m ×2 + 14.64sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780602501.51313829 seconds ×3 + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631394 ms (missed cycles : 2). + 14.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631394 ms (missed cycles : 2).[0m ×2 + 15.20sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780602502.07370305 seconds. ×3 + 15.46sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 15.47sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.49sINFOros2_control_node[2026-06-04 19:48:22.363] [info] Received new action goal ×2 + 15.49sINFOros2_control_node[2026-06-04 19:48:22.363] [info] Accepted new action goal ×2 + 15.56sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 15.57sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 15.63sWARNcontroller_managerOverrun might occur, Total time : 8918.753 us (Expected < 1666.667 us) --> Read time : 231.120 us, Update time : 8119.098 us, Write time : 568.535 us + 15.63sWARNros2_control_nodeOverrun might occur, Total time : 8918.753 us (Expected < 1666.667 us) --> Read time : 231.120 us, Update time : 8119.098 us, Write time : 568.535 us[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794297 ms (missed cycles : 4). + 16.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794297 ms (missed cycles : 4).[0m ×2 + 16.74sWARNcontroller_managerOverrun might occur, Total time : 2908.275 us (Expected < 1666.667 us) --> Read time : 171.847 us, Update time : 2236.317 us, Write time : 500.111 us + 16.74sWARNros2_control_nodeOverrun might occur, Total time : 2908.275 us (Expected < 1666.667 us) --> Read time : 171.847 us, Update time : 2236.317 us, Write time : 500.111 us[0m ×2 + 17.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874112 ms (missed cycles : 4). + 17.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874112 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 90 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406560 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406560 ms (missed cycles : 3).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 2717.596 us (Expected < 1666.667 us) --> Read time : 2056.809 us, Update time : 90.453 us, Write time : 570.334 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 2717.596 us (Expected < 1666.667 us) --> Read time : 2056.809 us, Update time : 90.453 us, Write time : 570.334 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835592 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835592 ms (missed cycles : 6).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 1685.633 us (Expected < 1666.667 us) --> Read time : 643.518 us, Update time : 55.813 us, Write time : 986.302 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 1685.633 us (Expected < 1666.667 us) --> Read time : 643.518 us, Update time : 55.813 us, Write time : 986.302 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320803 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320803 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 7332.696 us (Expected < 1666.667 us) --> Read time : 173.278 us, Update time : 6641.136 us, Write time : 518.282 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 7332.696 us (Expected < 1666.667 us) --> Read time : 173.278 us, Update time : 6641.136 us, Write time : 518.282 us[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780602501.51313829 seconds ×3 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631394 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631394 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780602502.07370305 seconds. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.61sINFOros2_control_node[2026-06-04 19:48:22.363] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-06-04 19:48:22.363] [info] Accepted new action goal ×2 + 3.68sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.69sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 8918.753 us (Expected < 1666.667 us) --> Read time : 231.120 us, Update time : 8119.098 us, Write time : 568.535 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 8918.753 us (Expected < 1666.667 us) --> Read time : 231.120 us, Update time : 8119.098 us, Write time : 568.535 us[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794297 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794297 ms (missed cycles : 4).[0m ×2 + 4.86sWARNcontroller_managerOverrun might occur, Total time : 2908.275 us (Expected < 1666.667 us) --> Read time : 171.847 us, Update time : 2236.317 us, Write time : 500.111 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 2908.275 us (Expected < 1666.667 us) --> Read time : 171.847 us, Update time : 2236.317 us, Write time : 500.111 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874112 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874112 ms (missed cycles : 4).[0m ×2 + 6.10sWARNcontroller_managerOverrun might occur, Total time : 7661.159 us (Expected < 1666.667 us) --> Read time : 196.919 us, Update time : 6677.076 us, Write time : 787.164 us + 6.10sWARNros2_control_nodeOverrun might occur, Total time : 7661.159 us (Expected < 1666.667 us) --> Read time : 196.919 us, Update time : 6677.076 us, Write time : 787.164 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017284 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017284 ms (missed cycles : 3).[0m ×2 + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786736 ms (missed cycles : 5). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.786736 ms (missed cycles : 5).[0m ×2 + 7.30sWARNcontroller_managerOverrun might occur, Total time : 8744.956 us (Expected < 1666.667 us) --> Read time : 307.964 us, Update time : 7804.555 us, Write time : 632.437 us + 7.30sWARNros2_control_nodeOverrun might occur, Total time : 8744.956 us (Expected < 1666.667 us) --> Read time : 307.964 us, Update time : 7804.555 us, Write time : 632.437 us[0m ×2 + 7.62sINFOros2_control_node[2026-06-04 19:48:26.377] [info] Received new action goal ×2 + 7.62sINFOros2_control_node[2026-06-04 19:48:26.377] [info] Accepted new action goal ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551660 ms (missed cycles : 5). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.551660 ms (missed cycles : 5).[0m ×2 + 8.50sWARNcontroller_managerOverrun might occur, Total time : 2443.195 us (Expected < 1666.667 us) --> Read time : 321.064 us, Update time : 1053.055 us, Write time : 1069.076 us + 8.50sWARNros2_control_nodeOverrun might occur, Total time : 2443.195 us (Expected < 1666.667 us) --> Read time : 321.064 us, Update time : 1053.055 us, Write time : 1069.076 us[0m ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.241978 ms (missed cycles : 7). + 9.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.241978 ms (missed cycles : 7).[0m ×2 + 9.51sWARNcontroller_managerOverrun might occur, Total time : 8624.762 us (Expected < 1666.667 us) --> Read time : 303.063 us, Update time : 7728.323 us, Write time : 593.376 us + 9.51sWARNros2_control_nodeOverrun might occur, Total time : 8624.762 us (Expected < 1666.667 us) --> Read time : 303.063 us, Update time : 7728.323 us, Write time : 593.376 us[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371931 ms (missed cycles : 2). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371931 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun might occur, Total time : 1667.412 us (Expected < 1666.667 us) --> Read time : 253.671 us, Update time : 84.914 us, Write time : 1328.827 us + 10.85sWARNros2_control_nodeOverrun might occur, Total time : 1667.412 us (Expected < 1666.667 us) --> Read time : 253.671 us, Update time : 84.914 us, Write time : 1328.827 us[0m ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969698 ms (missed cycles : 5). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969698 ms (missed cycles : 5).[0m ×2 + 11.89sWARNcontroller_managerOverrun might occur, Total time : 5294.077 us (Expected < 1666.667 us) --> Read time : 219.669 us, Update time : 4579.757 us, Write time : 494.651 us + 11.89sWARNros2_control_nodeOverrun might occur, Total time : 5294.077 us (Expected < 1666.667 us) --> Read time : 219.669 us, Update time : 4579.757 us, Write time : 494.651 us[0m ×2 + 12.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567769 ms (missed cycles : 4). + 12.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567769 ms (missed cycles : 4).[0m ×2 + 13.22sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780602511.97216320 seconds ×3 + 13.26sWARNcontroller_managerOverrun might occur, Total time : 1720.544 us (Expected < 1666.667 us) --> Read time : 284.153 us, Update time : 58.892 us, Write time : 1377.499 us + 13.26sWARNros2_control_nodeOverrun might occur, Total time : 1720.544 us (Expected < 1666.667 us) --> Read time : 284.153 us, Update time : 58.892 us, Write time : 1377.499 us[0m ×2 + 13.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698157 ms (missed cycles : 6). + 13.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698157 ms (missed cycles : 6).[0m ×2 + 13.85sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780602512.60286379 seconds. ×3 + 13.97sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 13.97sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 13.98sINFOros2_control_node[2026-06-04 19:48:32.737] [info] Received new action goal ×2 + 13.98sINFOros2_control_node[2026-06-04 19:48:32.737] [info] Accepted new action goal ×2 + 14.29sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 14.29sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 14.36sWARNcontroller_managerOverrun might occur, Total time : 2474.456 us (Expected < 1666.667 us) --> Read time : 321.764 us, Update time : 1464.193 us, Write time : 688.499 us + 14.36sWARNros2_control_nodeOverrun might occur, Total time : 2474.456 us (Expected < 1666.667 us) --> Read time : 321.764 us, Update time : 1464.193 us, Write time : 688.499 us[0m ×2 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157086 ms (missed cycles : 6). + 14.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157086 ms (missed cycles : 6).[0m ×2 + 15.61sWARNcontroller_managerOverrun might occur, Total time : 1764.826 us (Expected < 1666.667 us) --> Read time : 223.960 us, Update time : 999.523 us, Write time : 541.343 us + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925346 ms (missed cycles : 2). + 15.61sWARNros2_control_nodeOverrun might occur, Total time : 1764.826 us (Expected < 1666.667 us) --> Read time : 223.960 us, Update time : 999.523 us, Write time : 541.343 us[0m ×2 + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925346 ms (missed cycles : 2).[0m ×2 + 15.91sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 7.7s | 81 warnings · 145 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780602288.59811258 seconds. ×3 + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us[0m ×2 + 0.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.61sWARNcontroller_managerOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.61sWARNros2_control_nodeOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780602288.65826273 seconds ×3 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780602289.21936512 seconds. ×3 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.31sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3).[0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780602291.35951185 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780602291.93328404 seconds. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Accepted new action goal ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.04sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8).[0m ×2 + 6.78sWARNcontroller_managerOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us[0m ×2 + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977474 ms (missed cycles : 2). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.977474 ms (missed cycles : 2).[0m ×2 + 7.92sWARNcontroller_managerOverrun might occur, Total time : 2714.295 us (Expected < 1666.667 us) --> Read time : 418.658 us, Update time : 66.843 us, Write time : 2228.794 us + 7.92sWARNros2_control_nodeOverrun might occur, Total time : 2714.295 us (Expected < 1666.667 us) --> Read time : 418.658 us, Update time : 66.843 us, Write time : 2228.794 us[0m ×2 + 8.62sINFOobjective_server_node[0;93m2026-06-04 19:44:56.663839659 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 8.62sINFOobjective_server_node[0;93m2026-06-04 19:44:56.663877930 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638530 ms (missed cycles : 4). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638530 ms (missed cycles : 4).[0m ×2 + 9.19sINFOobjective_server_node[0;93m2026-06-04 19:44:57.229770143 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.19sINFOobjective_server_node[0;93m2026-06-04 19:44:57.229811145 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.26sWARNcontroller_managerOverrun might occur, Total time : 10482.853 us (Expected < 1666.667 us) --> Read time : 355.276 us, Update time : 55.182 us, Write time : 10072.395 us + 9.27sWARNros2_control_nodeOverrun might occur, Total time : 10482.853 us (Expected < 1666.667 us) --> Read time : 355.276 us, Update time : 55.182 us, Write time : 10072.395 us[0m ×2 + 9.32sINFOobjective_server_node[0;93m2026-06-04 19:44:57.367063402 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.33sINFOobjective_server_node[0;93m2026-06-04 19:44:57.370076769 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.33sINFOobjective_server_node[0;93m2026-06-04 19:44:57.370101140 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.66sINFOobjective_server_node[0;93m2026-06-04 19:44:57.697208367 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 9.67sINFOobjective_server_node[0;93m2026-06-04 19:44:57.716854346 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 9.67sINFOobjective_server_node[0;93m2026-06-04 19:44:57.716900888 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501895 ms (missed cycles : 3). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501895 ms (missed cycles : 3).[0m ×2 + 10.49sWARNcontroller_managerOverrun might occur, Total time : 8184.645 us (Expected < 1666.667 us) --> Read time : 171.997 us, Update time : 7504.747 us, Write time : 507.901 us + 10.49sWARNros2_control_nodeOverrun might occur, Total time : 8184.645 us (Expected < 1666.667 us) --> Read time : 171.997 us, Update time : 7504.747 us, Write time : 507.901 us[0m ×2 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 11.04sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 11.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 11.09sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 11.65sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 11.69sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 11.69sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 12.09sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 12.09sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 12.10sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 12.10sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 12.22sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.22sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.74sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.74sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 12.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 12.86sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 12.86sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 12.86sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.94sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 12.94sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 13.20sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 13.23sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 13.23sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 14.06sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 14.06sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 14.10sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 14.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 14.11sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.1s | 51 warnings · 98 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2714.295 us (Expected < 1666.667 us) --> Read time : 418.658 us, Update time : 66.843 us, Write time : 2228.794 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2714.295 us (Expected < 1666.667 us) --> Read time : 418.658 us, Update time : 66.843 us, Write time : 2228.794 us[0m ×2 + 0.70sINFOobjective_server_node[0;93m2026-06-04 19:44:56.663839659 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 0.70sINFOobjective_server_node[0;93m2026-06-04 19:44:56.663877930 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638530 ms (missed cycles : 4). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638530 ms (missed cycles : 4).[0m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:44:57.229770143 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.27sINFOobjective_server_node[0;93m2026-06-04 19:44:57.229811145 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 10482.853 us (Expected < 1666.667 us) --> Read time : 355.276 us, Update time : 55.182 us, Write time : 10072.395 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 10482.853 us (Expected < 1666.667 us) --> Read time : 355.276 us, Update time : 55.182 us, Write time : 10072.395 us[0m ×2 + 1.41sINFOobjective_server_node[0;93m2026-06-04 19:44:57.367063402 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.41sINFOobjective_server_node[0;93m2026-06-04 19:44:57.370076769 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.41sINFOobjective_server_node[0;93m2026-06-04 19:44:57.370101140 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.74sINFOobjective_server_node[0;93m2026-06-04 19:44:57.697208367 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-06-04 19:44:57.716854346 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.76sINFOobjective_server_node[0;93m2026-06-04 19:44:57.716900888 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501895 ms (missed cycles : 3). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501895 ms (missed cycles : 3).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 8184.645 us (Expected < 1666.667 us) --> Read time : 171.997 us, Update time : 7504.747 us, Write time : 507.901 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 8184.645 us (Expected < 1666.667 us) --> Read time : 171.997 us, Update time : 7504.747 us, Write time : 507.901 us[0m ×2 + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 3.13sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 3.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.14sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.17sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 3.17sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 3.74sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 3.78sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 3.78sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 4.18sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.18sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.18sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.18sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 4.31sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.31sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.82sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.82sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 4.94sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 4.94sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 4.94sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.02sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 5.02sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 5.29sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 5.31sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 5.31sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 6.15sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 6.15sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 6.18sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 6.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 6.19sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 6.96sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780602302.91610909 seconds. ×3 + 6.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2). + 6.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2).[0m ×2 + 7.05sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 7.06sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 7.20sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 7.20sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 7.20sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 7.20sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 7.33sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.33sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.35sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.36sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Received new action goal ×2 + 7.36sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Accepted new action goal ×2 + 7.42sWARNcontroller_managerOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us + 7.42sWARNros2_control_nodeOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us[0m ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5).[0m ×2 + 8.72sWARNcontroller_managerOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us + 8.72sWARNros2_control_nodeOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us[0m ×2 + 9.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2). + 9.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 57 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us[0m ×2 + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3).[0m ×2 + 2.07sWARNcontroller_managerOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us + 2.07sWARNros2_control_nodeOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us[0m ×2 + 2.66sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780602287.95841551 seconds ×3 + 2.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7).[0m ×2 + 3.30sWARNcontroller_managerOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us + 3.30sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780602288.59811258 seconds. ×3 + 3.30sWARNros2_control_nodeOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us[0m ×2 + 3.33sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.33sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.33sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.34sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.34sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.35sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.35sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.35sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.36sWARNcontroller_managerOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us + 3.36sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.36sWARNros2_control_nodeOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780602288.65826273 seconds ×3 + 3.92sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780602289.21936512 seconds. ×3 + 3.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.06sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Received new action goal ×2 + 4.06sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8).[0m ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3).[0m ×2 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us[0m ×2 + 6.06sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780602291.35951185 seconds ×3 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2).[0m ×2 + 6.64sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780602291.93328404 seconds. ×3 + 6.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.76sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Received new action goal ×2 + 6.76sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Accepted new action goal ×2 + 6.78sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 6.78sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 7.10sWARNcontroller_managerOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us + 7.10sWARNros2_control_nodeOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us[0m ×2 + 7.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2). + 7.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2).[0m ×2 + 8.12sWARNcontroller_managerOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us + 8.12sWARNros2_control_nodeOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us[0m ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6).[0m ×2 + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8).[0m ×2 + 9.53sWARNcontroller_managerOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us + 9.54sWARNros2_control_nodeOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 61 warnings · 490 info |
+ 0.00sINFOobjective_server_node[2026-06-04 19:43:06.623] [moveit_pro_license] [info] ×2 + 0.00sINFOobjective_server_node************************************************* ×4 + 0.00sINFOobjective_server_node* MoveIt Pro License ×2 + 0.00sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 0.15sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 0.15sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 0.15sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 0.15sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 0.15sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 0.15sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 0.15sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 0.15sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 0.15sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 0.16sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 0.16sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 0.16sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 0.16sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 0.32sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.32sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.32sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.32sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.37sINFOobjective_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 + 0.37sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.39sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.39sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.45sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color" + 0.45sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color"[0m ×2 + 0.45sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.45sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers" + 0.46sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers"[0m ×2 + 0.46sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info" + 0.46sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth" + 0.46sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 0.47sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 0.47sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 0.47sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.47sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 0.47sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents" + 0.47sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents"[0m ×2 + 0.47sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.47sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status" + 0.47sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/points" + 0.47sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info" + 0.47sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/depth" + 0.47sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.47sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/points"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info"[0m ×2 + 0.47sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/depth"[0m ×2 + 0.48sINFOros2_control_node[2026-06-04 19:43:07.097] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_node[2026-06-04 19:43:07.097] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.48sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.50sINFOros2_control_node[2026-06-04 19:43:07.126] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.50sINFOros2_control_node[2026-06-04 19:43:07.126] [info] Controller state will be published at 50 Hz. ×2 + 0.51sINFOros2_control_node[2026-06-04 19:43:07.134] [info] Registered `FollowJointTrajectory` action server. ×2 + 0.74sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816501 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816501 ms (missed cycles : 2).[0m ×2 + 0.79sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.79sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.80sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.80sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.80sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.80sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.80sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.80sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.82sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9633] ×2 + 0.85sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.85sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.85sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.85sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.86sINFOforce_torque_sensor_broadcasterconfigure successful + 0.86sINFOros2_control_nodeconfigure successful[0m ×2 + 0.86sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.87sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.87sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.87sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.87sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.87sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.87sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.87sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.88sWARNcontroller_managerOverrun might occur, Total time : 3460.917 us (Expected < 1666.667 us) --> Read time : 313.183 us, Update time : 22.191 us, Write time : 3125.543 us + 0.88sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.88sWARNros2_control_nodeOverrun might occur, Total time : 3460.917 us (Expected < 1666.667 us) --> Read time : 313.183 us, Update time : 22.191 us, Write time : 3125.543 us[0m ×2 + 0.88sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.88sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.93sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.98sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 1.03sINFOmove_group ×4 + 1.03sINFOmove_group[92mYou can start planning now![0m ×2 + 1.17sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 1.17sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 1.17sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/trajectory_execution_event" + 1.17sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 1.17sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 1.17sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/trajectory_execution_event"[0m ×2 + 1.17sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event" + 1.17sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 1.17sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state" + 1.17sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 1.17sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 1.17sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench" + 1.18sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 1.18sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 1.18sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 1.18sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9626] ×2 + 1.25sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.25sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.31sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 1.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 1.31sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 1.31sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 1.33sWARNobjective_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 + 1.34sINFOros2_control_node[2026-06-04 19:43:07.963] [info] Controller state will be published at 20 Hz. ×2 + 1.34sINFOros2_control_node[2026-06-04 19:43:07.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 1.62sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.62sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.62sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.62sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.62sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.62sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9636] ×2 + 1.63sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.63sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.67sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 1.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.67sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.67sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.67sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.68sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.68sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us + 1.68sWARNros2_control_nodeOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us[0m ×2 + 1.68sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 1.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.80sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 1.80sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 1.80sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event" + 1.80sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event" + 1.80sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 1.80sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m ×2 + 1.80sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 1.80sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 1.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 1.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 1.97sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 1.97sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 1.97sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.97sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 2.01sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9627] ×2 + 2.05sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 2.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 2.05sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 2.05sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 2.05sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 2.05sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 2.05sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 2.05sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 2.05sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 2.05sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 2.06sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 2.06sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 2.06sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 2.06sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 2.06sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.06sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.06sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5).[0m ×2 + 2.33sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.35sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event" + 2.35sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input" + 2.36sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state" + 2.36sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 2.36sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory" + 2.36sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9629] ×2 + 2.42sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 2.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 2.68sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 2.68sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 2.68sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 2.68sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 2.68sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 2.68sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 2.70sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 2.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 2.70sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 2.70sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 2.70sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 2.70sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 2.70sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 2.70sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 2.70sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 2.70sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 2.70sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 2.70sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 2.71sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 2.71sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 2.71sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 2.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event" + 2.89sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 2.90sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states" + 2.90sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states"[0m ×2 + 2.97sWARNcontroller_managerOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us + 2.97sWARNros2_control_nodeOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us[0m ×2 + 3.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9628] ×2 + 3.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780602189.71677256 seconds. ×3 + 3.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780602189.72705555 seconds ×3 + 3.10sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 3.11sINFOcontroller_managerLoading controller 'velocity_force_controller' + 3.11sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 3.11sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 3.18sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 3.18sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 3.23sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 3.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 3.23sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 3.23sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 3.26sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 3.26sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 3.44sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 3.44sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 3.44sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 3.44sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 3.60sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 3.66sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 3.66sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.66sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.98sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.98sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.32sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 5.35sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 5.36sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 5.36sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 6.42sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 6.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 6.99sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 7.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 7.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 7.73sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 7.73sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 7.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 8.40sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 8.42sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.42sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.42sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.43sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.43sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.47sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.47sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.47sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 8.47sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 8.47sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 8.47sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 8.48sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 63 warnings · 305 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9636] ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9627] ×2 + 0.43sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5).[0m ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state" + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory" + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9629] ×2 + 0.81sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.07sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.07sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.08sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states" + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states"[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us[0m ×2 + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9628] ×2 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780602189.71677256 seconds. ×3 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780602189.72705555 seconds ×3 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.61sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 3.74sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 6.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 6.11sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 6.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 6.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 7.14sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 7.14sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 7.43sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 7.44sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 7.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.44sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.44sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.55sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 7.55sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.58sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 7.58sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 8.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 8.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 8.37sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 8.37sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 8.57sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.4s | 3 errors · 47 warnings · 66 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us + 1.49sWARNros2_control_nodeOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us[0m ×2 + 3.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Got request to cancel active goal. ×2 + 3.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Canceling active goal... ×2 + 3.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602535.62266707 seconds ×3 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602536.18629217 seconds. ×3 + 4.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 4.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602537.05669403 seconds ×3 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602537.62023520 seconds. ×3 + 5.73sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.73sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.73sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602537.62202740 seconds ×3 + 5.89sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.89sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 5.90sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.90sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602538.19249177 seconds. ×3 + 6.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602538.19299746 seconds ×3 + 6.40sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 6.40sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us[0m ×2 + 7.02sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602538.91050053 seconds. ×3 + 7.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4). + 7.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4).[0m ×2 + 7.42sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 7.42sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 7.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780602539.52064371 seconds ×3 + 7.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.81sWARNcontroller_managerOverrun might occur, Total time : 3821.343 us (Expected < 1666.667 us) --> Read time : 239.411 us, Update time : 51.402 us, Write time : 3530.530 us + 7.92sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961675 ms (missed cycles : 2). | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.8s | 3 errors · 48 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2).[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 3.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 4.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 4.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 5.27sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2).[0m ×2 + 7.58sWARNcontroller_managerOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us + 7.58sWARNros2_control_nodeOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.7s | 3 errors · 45 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us[0m ×2 + 1.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Got request to cancel active goal. ×2 + 1.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Canceling active goal... ×2 + 1.72sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602535.62266707 seconds ×3 + 1.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2).[0m ×2 + 2.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602536.18629217 seconds. ×3 + 2.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 2.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602537.05669403 seconds ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602537.62023520 seconds. ×3 + 3.72sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.72sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 3.72sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.72sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602537.62202740 seconds ×3 + 3.89sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.89sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 3.89sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.89sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602538.19249177 seconds. ×3 + 4.29sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602538.19299746 seconds ×3 + 4.39sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 4.39sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us[0m ×2 + 5.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602538.91050053 seconds. ×3 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4).[0m ×2 + 5.41sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 5.41sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 5.62sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780602539.52064371 seconds ×3 + 5.65sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 3821.343 us (Expected < 1666.667 us) --> Read time : 239.411 us, Update time : 51.402 us, Write time : 3530.530 us + 5.91sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961675 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun might occur, Total time : 3821.343 us (Expected < 1666.667 us) --> Read time : 239.411 us, Update time : 51.402 us, Write time : 3530.530 us[0m ×2 + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961675 ms (missed cycles : 2).[0m ×2 + 6.68sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 + 7.07sWARNcontroller_managerOverrun might occur, Total time : 1695.452 us (Expected < 1666.667 us) --> Read time : 172.368 us, Update time : 231.339 us, Write time : 1291.745 us + 7.07sWARNros2_control_nodeOverrun might occur, Total time : 1695.452 us (Expected < 1666.667 us) --> Read time : 172.368 us, Update time : 231.339 us, Write time : 1291.745 us[0m ×2 + 7.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952735 ms (missed cycles : 2). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952735 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 42 warnings · 79 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2887.352 us (Expected < 1666.667 us) --> Read time : 187.298 us, Update time : 86.634 us, Write time : 2613.420 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2887.352 us (Expected < 1666.667 us) --> Read time : 187.298 us, Update time : 86.634 us, Write time : 2613.420 us[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us[0m ×2 + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780602287.95841551 seconds ×3 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7).[0m ×2 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us + 3.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780602288.59811258 seconds. ×3 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us[0m ×2 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780602288.65826273 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780602289.21936512 seconds. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.29sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8).[0m ×2 + 4.80sWARNcontroller_managerOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us + 4.80sWARNros2_control_nodeOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780602291.35951185 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2).[0m ×2 + 6.87sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780602291.93328404 seconds. ×3 + 6.98sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 6.99sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Received new action goal ×2 + 6.99sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Accepted new action goal ×2 + 7.02sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 7.02sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us[0m ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 42 warnings · 51 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:43:59.126] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-04 19:43:59.126] [info] Accepted new action goal ×2 + 0.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4). + 0.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4).[0m ×2 + 0.83sWARNcontroller_managerOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us + 0.83sWARNros2_control_nodeOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us[0m ×2 + 1.39sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.39sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2). + 1.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2).[0m ×2 + 1.75sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.76sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Received new action goal ×2 + 1.76sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Accepted new action goal ×2 + 1.90sWARNcontroller_managerOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us + 1.91sWARNros2_control_nodeOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us[0m ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2). + 2.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2).[0m ×2 + 2.91sWARNcontroller_managerOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us + 2.92sWARNros2_control_nodeOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780602242.27380633 seconds ×3 + 3.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.15sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3).[0m ×2 + 3.74sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780602242.87040591 seconds. ×3 + 3.82sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780602242.95056129 seconds ×3 + 3.93sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.94sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.95sWARNcontroller_managerOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us + 3.95sWARNros2_control_nodeOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us[0m ×2 + 4.44sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780602243.56900406 seconds. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.54sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.55sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.57sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Accepted new action goal ×2 + 4.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6). + 4.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6).[0m ×2 + 5.09sWARNcontroller_managerOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us + 5.10sWARNros2_control_nodeOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us[0m ×2 + 5.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6). + 5.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6).[0m ×2 + 6.18sWARNcontroller_managerOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us + 6.18sWARNros2_control_nodeOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us[0m ×2 + 6.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2).[0m ×2 + 7.40sWARNcontroller_managerOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us + 7.40sWARNros2_control_nodeOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 45 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2).[0m ×2 + 1.18sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 1.18sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 1.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 2.32sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 2.32sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 2.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 2.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 2.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 2.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.89sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 3.35sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 3.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 3.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 3.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.61sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.61sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.63sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.63sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.63sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 3.63sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.64sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 3.90sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.90sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.20sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 4.23sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.23sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 4.58sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 4.91sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.01sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.03sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 5.03sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 5.70sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 5.70sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us + 6.89sWARNros2_control_nodeOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2).[0m ×2 + 1.61sWARNcontroller_managerOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us + 1.61sWARNros2_control_nodeOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us[0m ×2 + 2.23sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Got request to cancel active goal. ×2 + 2.23sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Canceling active goal... ×2 + 2.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602535.62266707 seconds ×3 + 2.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.26sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2). + 2.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2).[0m ×2 + 2.80sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602536.18629217 seconds. ×3 + 2.89sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 2.89sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 3.00sWARNcontroller_managerOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us + 3.00sWARNros2_control_nodeOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us[0m ×2 + 3.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602537.05669403 seconds ×3 + 4.11sWARNcontroller_managerOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us + 4.11sWARNros2_control_nodeOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602537.62023520 seconds. ×3 + 4.23sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 4.23sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 4.23sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 4.23sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602537.62202740 seconds ×3 + 4.40sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.40sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 4.40sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.40sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602538.19249177 seconds. ×3 + 4.81sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602538.19299746 seconds ×3 + 4.91sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 4.91sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us[0m ×2 + 5.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780602538.91050053 seconds. ×3 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.841574 ms (missed cycles : 4).[0m ×2 + 5.92sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures" + 5.92sINFOfoxglove_bridgeAdvertising new channel 87 for topic "/pcd_pointcloud_captures"[0m ×2 + 6.13sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780602539.52064371 seconds ×3 + 6.16sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.32sWARNcontroller_managerOverrun might occur, Total time : 3821.343 us (Expected < 1666.667 us) --> Read time : 239.411 us, Update time : 51.402 us, Write time : 3530.530 us + 6.43sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD) + 6.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961675 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun might occur, Total time : 3821.343 us (Expected < 1666.667 us) --> Read time : 239.411 us, Update time : 51.402 us, Write time : 3530.530 us[0m ×2 + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961675 ms (missed cycles : 2).[0m ×2 + 7.20sINFOfoxglove_bridgeRemoving channel 87 for topic "/pcd_pointcloud_captures" (moveit_studio_vision_msgs/msg/PointCloudPCD)[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.1s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.32sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.33sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.33sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 2.44sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780602302.91610909 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2). + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.1s | 3 errors · 42 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 1.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 2.72sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.72sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 3.05sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.85sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us[0m ×2 + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364922 ms (missed cycles : 4). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.364922 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.1s | 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2).[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us + 2.64sWARNros2_control_nodeOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us[0m ×2 + 2.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602479.44338179 seconds ×3 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.78sWARNcontroller_managerOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us + 3.78sWARNros2_control_nodeOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us[0m ×2 + 4.24sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.24sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602480.19582129 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.48sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Accepted new action goal ×2 + 4.75sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.75sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 4.75sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.75sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.1s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2).[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 3.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 4.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 4.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 5.27sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 42 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us[0m ×2 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780602242.27380633 seconds ×3 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780602242.87040591 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780602242.95056129 seconds ×3 + 3.30sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780602243.56900406 seconds. ×3 + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6).[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 42 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2887.352 us (Expected < 1666.667 us) --> Read time : 187.298 us, Update time : 86.634 us, Write time : 2613.420 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2887.352 us (Expected < 1666.667 us) --> Read time : 187.298 us, Update time : 86.634 us, Write time : 2613.420 us[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050638 ms (missed cycles : 3).[0m ×2 + 1.25sWARNcontroller_managerOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2). + 1.25sWARNros2_control_nodeOverrun might occur, Total time : 2081.708 us (Expected < 1666.667 us) --> Read time : 174.798 us, Update time : 1335.986 us, Write time : 570.924 us[0m ×2 + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.296410 ms (missed cycles : 2).[0m ×2 + 2.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3). + 2.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969485 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us + 2.31sWARNros2_control_nodeOverrun might occur, Total time : 1833.928 us (Expected < 1666.667 us) --> Read time : 222.170 us, Update time : 75.593 us, Write time : 1536.165 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780602287.95841551 seconds ×3 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7). + 3.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7).[0m ×2 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us + 3.53sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780602288.59811258 seconds. ×3 + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us[0m ×2 + 3.57sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.57sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.57sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.57sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.58sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.58sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.59sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 3.59sWARNcontroller_managerOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us + 3.59sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 3.59sWARNros2_control_nodeOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780602288.65826273 seconds ×3 + 4.16sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780602289.21936512 seconds. ×3 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.28sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 4.28sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.29sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Received new action goal ×2 + 4.29sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Accepted new action goal ×2 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8).[0m ×2 + 4.80sWARNcontroller_managerOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us + 4.80sWARNros2_control_nodeOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us[0m ×2 + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3).[0m ×2 + 5.83sWARNcontroller_managerOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780602291.35951185 seconds ×3 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.32sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.33sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.33sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 2.44sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780602302.91610909 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2). + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 36 warnings · 2283 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×373 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×373 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×746 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×746 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112358 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.112358 ms (missed cycles : 2).[0m ×2 + 0.74sWARNcontroller_managerOverrun might occur, Total time : 1776.447 us (Expected < 1666.667 us) --> Read time : 1319.317 us, Update time : 66.443 us, Write time : 390.687 us + 0.74sWARNros2_control_nodeOverrun might occur, Total time : 1776.447 us (Expected < 1666.667 us) --> Read time : 1319.317 us, Update time : 66.443 us, Write time : 390.687 us[0m ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172116 ms (missed cycles : 4). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.172116 ms (missed cycles : 4).[0m ×2 + 1.76sWARNcontroller_managerOverrun might occur, Total time : 1767.037 us (Expected < 1666.667 us) --> Read time : 210.770 us, Update time : 92.034 us, Write time : 1464.233 us + 1.76sWARNros2_control_nodeOverrun might occur, Total time : 1767.037 us (Expected < 1666.667 us) --> Read time : 210.770 us, Update time : 92.034 us, Write time : 1464.233 us[0m ×2 + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942831 ms (missed cycles : 2). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942831 ms (missed cycles : 2).[0m ×2 + 2.80sWARNcontroller_managerOverrun might occur, Total time : 8878.917 us (Expected < 1666.667 us) --> Read time : 205.859 us, Update time : 8095.473 us, Write time : 577.585 us + 2.80sWARNros2_control_nodeOverrun might occur, Total time : 8878.917 us (Expected < 1666.667 us) --> Read time : 205.859 us, Update time : 8095.473 us, Write time : 577.585 us[0m ×2 + 3.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588163 ms (missed cycles : 4). + 3.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.588163 ms (missed cycles : 4).[0m ×2 + 3.55sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780602448.16475129 seconds ×3 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.56sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 5512.780 us (Expected < 1666.667 us) --> Read time : 315.234 us, Update time : 4604.461 us, Write time : 593.085 us + 4.03sWARNros2_control_nodeOverrun might occur, Total time : 5512.780 us (Expected < 1666.667 us) --> Read time : 315.234 us, Update time : 4604.461 us, Write time : 593.085 us[0m ×2 + 4.06sINFOjoint_trajectory_controllerGoal reached, success! + 4.06sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780602448.81848264 seconds. ×3 + 4.21sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.21sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011083 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.011083 ms (missed cycles : 3).[0m ×2 + 4.77sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 4.77sINFOfoxglove_bridgeRemoving channel 79 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 5.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.23sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! + 5.23sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.23sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.23sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.33sINFOobjective_server_nodeFound path in 6 iterations (0.00640753 s). ×2 + 5.38sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.40sINFOros2_control_node[2026-06-04 19:47:30.015] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-06-04 19:47:30.015] [info] Accepted new action goal ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077605 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.077605 ms (missed cycles : 3).[0m ×2 + 5.81sWARNcontroller_managerOverrun might occur, Total time : 1786.408 us (Expected < 1666.667 us) --> Read time : 181.348 us, Update time : 60.182 us, Write time : 1544.878 us + 5.81sWARNros2_control_nodeOverrun might occur, Total time : 1786.408 us (Expected < 1666.667 us) --> Read time : 181.348 us, Update time : 60.182 us, Write time : 1544.878 us[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053099 ms (missed cycles : 3). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.053099 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 33 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 33 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 39 warnings · 49 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.104209 ms (missed cycles : 3).[0m ×2 + 0.39sWARNcontroller_managerOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us + 0.39sWARNros2_control_nodeOverrun might occur, Total time : 2534.676 us (Expected < 1666.667 us) --> Read time : 2004.354 us, Update time : 78.543 us, Write time : 451.779 us[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.362572 ms (missed cycles : 6).[0m ×2 + 1.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.54sWARNcontroller_managerOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us + 1.54sWARNros2_control_nodeOverrun might occur, Total time : 1695.391 us (Expected < 1666.667 us) --> Read time : 256.330 us, Update time : 783.333 us, Write time : 655.728 us[0m ×2 + 1.63sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Received new action goal ×2 + 1.65sINFOros2_control_node[2026-06-04 19:43:25.424] [info] Accepted new action goal ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.821957 ms (missed cycles : 6).[0m ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Got request to cancel active goal. ×2 + 2.25sINFOros2_control_node[2026-06-04 19:43:26.030] [info] Canceling active goal... ×2 + 2.27sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780602206.04564238 seconds ×3 + 2.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.82sWARNcontroller_managerOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1841.498 us (Expected < 1666.667 us) --> Read time : 251.001 us, Update time : 1202.371 us, Write time : 388.126 us[0m ×2 + 2.84sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780602206.61415958 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780602206.73684454 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395110 ms (missed cycles : 5).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780602207.39219260 seconds. ×3 + 3.62sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.62sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us + 3.87sWARNros2_control_nodeOverrun might occur, Total time : 4036.961 us (Expected < 1666.667 us) --> Read time : 225.070 us, Update time : 41.131 us, Write time : 3770.760 us[0m ×2 + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event" + 3.98sINFOfoxglove_bridgeAdvertising new channel 66 for topic "/agent_event"[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685738 ms (missed cycles : 4).[0m ×2 + 4.75sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.75sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Received new action goal ×2 + 4.76sINFOros2_control_node[2026-06-04 19:43:28.536] [info] Accepted new action goal ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.408195 ms (missed cycles : 5).[0m ×2 + 5.26sWARNcontroller_managerOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us + 5.26sWARNros2_control_nodeOverrun might occur, Total time : 6242.165 us (Expected < 1666.667 us) --> Read time : 267.061 us, Update time : 69.933 us, Write time : 5905.171 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.598368 ms (missed cycles : 3).[0m ×2 + 6.49sWARNcontroller_managerOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us + 6.49sWARNros2_control_nodeOverrun might occur, Total time : 2123.780 us (Expected < 1666.667 us) --> Read time : 1041.154 us, Update time : 86.344 us, Write time : 996.282 us[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 42 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us[0m ×2 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780602242.27380633 seconds ×3 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780602242.87040591 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780602242.95056129 seconds ×3 + 3.30sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780602243.56900406 seconds. ×3 + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6).[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us[0m ×2 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 42 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us[0m ×2 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780602242.27380633 seconds ×3 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780602242.87040591 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780602242.95056129 seconds ×3 + 3.30sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780602243.56900406 seconds. ×3 + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6).[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 42 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.747208 ms (missed cycles : 4).[0m ×2 + 0.20sWARNcontroller_managerOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 3979.859 us (Expected < 1666.667 us) --> Read time : 277.372 us, Update time : 3094.271 us, Write time : 608.216 us[0m ×2 + 0.76sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.76sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.794664 ms (missed cycles : 2).[0m ×2 + 1.12sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Received new action goal ×2 + 1.13sINFOros2_control_node[2026-06-04 19:44:00.887] [info] Accepted new action goal ×2 + 1.27sWARNcontroller_managerOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us + 1.28sWARNros2_control_nodeOverrun might occur, Total time : 3863.393 us (Expected < 1666.667 us) --> Read time : 258.081 us, Update time : 2825.479 us, Write time : 779.833 us[0m ×2 + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.842776 ms (missed cycles : 2).[0m ×2 + 2.28sWARNcontroller_managerOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us + 2.29sWARNros2_control_nodeOverrun might occur, Total time : 1745.274 us (Expected < 1666.667 us) --> Read time : 196.458 us, Update time : 37.722 us, Write time : 1511.094 us[0m ×2 + 2.52sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780602242.27380633 seconds ×3 + 2.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.53sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.907211 ms (missed cycles : 3).[0m ×2 + 3.11sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780602242.87040591 seconds. ×3 + 3.19sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780602242.95056129 seconds ×3 + 3.30sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 3.31sINFOfoxglove_bridgeRemoving channel 68 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.32sWARNcontroller_managerOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us + 3.32sWARNros2_control_nodeOverrun might occur, Total time : 5267.702 us (Expected < 1666.667 us) --> Read time : 196.598 us, Update time : 60.683 us, Write time : 5010.421 us[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780602243.56900406 seconds. ×3 + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 3.82sINFOfoxglove_bridgeRemoving channel 66 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 3.82sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.91sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.92sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Received new action goal ×2 + 3.94sINFOros2_control_node[2026-06-04 19:44:03.690] [info] Accepted new action goal ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.062951 ms (missed cycles : 6).[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2300.267 us (Expected < 1666.667 us) --> Read time : 286.372 us, Update time : 230.840 us, Write time : 1783.055 us[0m ×2 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.800082 ms (missed cycles : 6).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 8720.579 us (Expected < 1666.667 us) --> Read time : 183.638 us, Update time : 8024.699 us, Write time : 512.242 us[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150915 ms (missed cycles : 2).[0m ×2 + 6.77sWARNcontroller_managerOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us + 6.78sWARNros2_control_nodeOverrun might occur, Total time : 86600.947 us (Expected < 1666.667 us) --> Read time : 86010.952 us, Update time : 101.945 us, Write time : 488.050 us[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 39 warnings · 55 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.131243 ms (missed cycles : 6).[0m ×2 + 0.37sWARNcontroller_managerOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 4144.054 us (Expected < 1666.667 us) --> Read time : 299.662 us, Update time : 3267.088 us, Write time : 577.304 us[0m ×2 + 0.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.55sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 0.56sINFOobjective_server_nodePath shortcutter: [X_______X] ×4 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Received new action goal ×2 + 0.57sINFOros2_control_node[2026-06-04 19:44:11.736] [info] Accepted new action goal ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.690410 ms (missed cycles : 4).[0m ×2 + 1.70sWARNcontroller_managerOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us + 1.70sWARNros2_control_nodeOverrun might occur, Total time : 1773.365 us (Expected < 1666.667 us) --> Read time : 738.001 us, Update time : 326.664 us, Write time : 708.700 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.001947 ms (missed cycles : 6).[0m ×2 + 2.75sWARNcontroller_managerOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us + 2.76sWARNros2_control_nodeOverrun might occur, Total time : 1878.670 us (Expected < 1666.667 us) --> Read time : 153.477 us, Update time : 736.061 us, Write time : 989.132 us[0m ×2 + 2.91sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Received new action goal ×2 + 2.94sINFOros2_control_node[2026-06-04 19:44:14.097] [info] Accepted new action goal ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Got request to cancel active goal. ×2 + 2.95sINFOros2_control_node[2026-06-04 19:44:14.119] [info] Canceling active goal... ×2 + 2.96sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780602254.12793827 seconds ×3 + 2.99sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.99sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128514 ms (missed cycles : 2).[0m ×2 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780602254.72527194 seconds. ×3 + 3.56sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.56sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 9732.021 us (Expected < 1666.667 us) --> Read time : 235.110 us, Update time : 64.842 us, Write time : 9432.069 us[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution" + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event" + 4.01sINFOfoxglove_bridgeAdvertising new channel 69 for topic "/preview_solution"[0m ×2 + 4.01sINFOfoxglove_bridgeAdvertising new channel 70 for topic "/agent_event"[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.684318 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.70sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Received new action goal ×2 + 4.71sINFOros2_control_node[2026-06-04 19:44:15.880] [info] Accepted new action goal ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.782590 ms (missed cycles : 4).[0m ×2 + 5.20sWARNcontroller_managerOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us + 5.20sWARNros2_control_nodeOverrun might occur, Total time : 3308.850 us (Expected < 1666.667 us) --> Read time : 269.602 us, Update time : 2532.657 us, Write time : 506.591 us[0m ×2 + 5.64sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.06% of iterations over budget over 1:10.005 of wall time (229/21639). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044321 ms (missed cycles : 3).[0m ×2 + 6.29sWARNcontroller_managerOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us + 6.29sWARNros2_control_nodeOverrun might occur, Total time : 2110.029 us (Expected < 1666.667 us) --> Read time : 213.159 us, Update time : 1474.623 us, Write time : 422.247 us[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 42 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401309 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401309 ms (missed cycles : 2).[0m ×2 + 0.05sWARNcontroller_managerOverrun might occur, Total time : 3715.607 us (Expected < 1666.667 us) --> Read time : 189.318 us, Update time : 3022.088 us, Write time : 504.201 us + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 3715.607 us (Expected < 1666.667 us) --> Read time : 189.318 us, Update time : 3022.088 us, Write time : 504.201 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670849 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.670849 ms (missed cycles : 4).[0m ×2 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 6968.194 us (Expected < 1666.667 us) --> Read time : 183.698 us, Update time : 63.012 us, Write time : 6721.484 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 6968.194 us (Expected < 1666.667 us) --> Read time : 183.698 us, Update time : 63.012 us, Write time : 6721.484 us[0m ×2 + 2.05sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 2.05sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.06sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 2.06sINFOobjective_server_nodePath shortcutter: [X________X] ×4 + 2.07sINFOobjective_server_nodeFound path in 0 iterations (1.4e-07 s). ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889148 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889148 ms (missed cycles : 2).[0m ×2 + 2.11sINFOobjective_server_nodePath shortcutter: [X________________________________________________________X] ×2 + 2.13sINFOobjective_server_nodeFound path in 1 iterations (0.00260259 s). ×2 + 2.23sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________X____________X] ×2 + 2.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.27sINFOros2_control_node[2026-06-04 19:44:35.095] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-06-04 19:44:35.095] [info] Accepted new action goal ×2 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 10346.427 us (Expected < 1666.667 us) --> Read time : 228.299 us, Update time : 9625.697 us, Write time : 492.431 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 10346.427 us (Expected < 1666.667 us) --> Read time : 228.299 us, Update time : 9625.697 us, Write time : 492.431 us[0m ×2 + 2.71sINFOros2_control_node[2026-06-04 19:44:35.537] [info] Received new action goal ×2 + 2.71sINFOros2_control_node[2026-06-04 19:44:35.537] [info] Accepted new action goal ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345544 ms (missed cycles : 5). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.345544 ms (missed cycles : 5).[0m ×2 + 3.31sINFOros2_control_node[2026-06-04 19:44:36.128] [info] Got request to cancel active goal. ×2 + 3.31sINFOros2_control_node[2026-06-04 19:44:36.128] [info] Canceling active goal... ×2 + 3.32sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780602276.14792013 seconds ×3 + 3.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.67sWARNcontroller_managerOverrun might occur, Total time : 10119.418 us (Expected < 1666.667 us) --> Read time : 236.130 us, Update time : 66.283 us, Write time : 9817.005 us + 3.68sWARNros2_control_nodeOverrun might occur, Total time : 10119.418 us (Expected < 1666.667 us) --> Read time : 236.130 us, Update time : 66.283 us, Write time : 9817.005 us[0m ×2 + 3.94sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780602276.76472640 seconds. ×3 + 4.10sINFOobjective_server_nodeFound path in 0 iterations (5.7e-07 s). ×2 + 4.12sINFOros2_control_node[2026-06-04 19:44:36.939] [info] Received new action goal ×2 + 4.12sINFOros2_control_node[2026-06-04 19:44:36.939] [info] Accepted new action goal ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.13sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.13sINFOfoxglove_bridgeRemoving channel 73 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.13sINFOfoxglove_bridgeRemoving channel 70 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628207 ms (missed cycles : 7). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.628207 ms (missed cycles : 7).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 2234.564 us (Expected < 1666.667 us) --> Read time : 891.458 us, Update time : 76.613 us, Write time : 1266.493 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 2234.564 us (Expected < 1666.667 us) --> Read time : 891.458 us, Update time : 76.613 us, Write time : 1266.493 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807580 ms (missed cycles : 2). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807580 ms (missed cycles : 2).[0m ×2 + 5.90sWARNcontroller_managerOverrun might occur, Total time : 6617.000 us (Expected < 1666.667 us) --> Read time : 220.529 us, Update time : 93.594 us, Write time : 6302.877 us + 5.90sWARNros2_control_nodeOverrun might occur, Total time : 6617.000 us (Expected < 1666.667 us) --> Read time : 220.529 us, Update time : 93.594 us, Write time : 6302.877 us[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695099 ms (missed cycles : 4). + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.695099 ms (missed cycles : 4).[0m ×2 + 6.58sINFOros2_control_node[2026-06-04 19:44:39.403] [info] Received new action goal ×2 + 6.58sINFOros2_control_node[2026-06-04 19:44:39.403] [info] Accepted new action goal ×2 + 6.91sWARNcontroller_managerOverrun might occur, Total time : 5417.458 us (Expected < 1666.667 us) --> Read time : 201.358 us, Update time : 4703.188 us, Write time : 512.912 us + 6.92sWARNros2_control_nodeOverrun might occur, Total time : 5417.458 us (Expected < 1666.667 us) --> Read time : 201.358 us, Update time : 4703.188 us, Write time : 512.912 us[0m ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 42 warnings · 76 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780602288.59811258 seconds. ×3 + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us[0m ×2 + 0.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.61sWARNcontroller_managerOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.61sWARNros2_control_nodeOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780602288.65826273 seconds ×3 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780602289.21936512 seconds. ×3 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.31sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3).[0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780602291.35951185 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780602291.93328404 seconds. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Accepted new action goal ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.04sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8).[0m ×2 + 6.78sWARNcontroller_managerOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 42 warnings · 76 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.759889 ms (missed cycles : 7).[0m ×2 + 0.55sWARNcontroller_managerOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780602288.59811258 seconds. ×3 + 0.56sWARNros2_control_nodeOverrun might occur, Total time : 3585.111 us (Expected < 1666.667 us) --> Read time : 267.642 us, Update time : 1180.139 us, Write time : 2137.330 us[0m ×2 + 0.59sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.59sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.59sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.59sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 0.60sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 0.60sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 0.61sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.61sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 0.61sWARNcontroller_managerOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us + 0.61sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 0.61sWARNros2_control_nodeOverrun might occur, Total time : 3764.729 us (Expected < 1666.667 us) --> Read time : 217.819 us, Update time : 2794.888 us (Switch time : 2738.366 us (Switch chained mode time : 0.360 us, perform mode change time : 3.460 us, Activation time : 2724.435 us, Deactivation time : 0.360 us)), Write time : 752.022 us[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780602288.65826273 seconds ×3 + 1.18sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780602289.21936512 seconds. ×3 + 1.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.31sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Received new action goal ×2 + 1.31sINFOros2_control_node[2026-06-04 19:44:49.353] [info] Accepted new action goal ×2 + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.282369 ms (missed cycles : 8).[0m ×2 + 1.82sWARNcontroller_managerOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us + 1.82sWARNros2_control_nodeOverrun might occur, Total time : 2050.127 us (Expected < 1666.667 us) --> Read time : 874.017 us, Update time : 84.423 us, Write time : 1091.687 us[0m ×2 + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094029 ms (missed cycles : 3).[0m ×2 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us + 2.86sWARNros2_control_nodeOverrun might occur, Total time : 2080.587 us (Expected < 1666.667 us) --> Read time : 225.889 us, Update time : 819.184 us, Write time : 1035.514 us[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780602291.35951185 seconds ×3 + 3.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2). + 3.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239123 ms (missed cycles : 2).[0m ×2 + 3.89sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780602291.93328404 seconds. ×3 + 4.00sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 4.02sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Received new action goal ×2 + 4.02sINFOros2_control_node[2026-06-04 19:44:52.058] [info] Accepted new action goal ×2 + 4.04sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view" + 4.04sINFOfoxglove_bridgeAdvertising new channel 74 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.35sWARNcontroller_managerOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us + 4.35sWARNros2_control_nodeOverrun might occur, Total time : 5923.411 us (Expected < 1666.667 us) --> Read time : 202.569 us, Update time : 5282.473 us, Write time : 438.369 us[0m ×2 + 4.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2). + 4.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959345 ms (missed cycles : 2).[0m ×2 + 5.37sWARNcontroller_managerOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us + 5.38sWARNros2_control_nodeOverrun might occur, Total time : 2002.715 us (Expected < 1666.667 us) --> Read time : 207.179 us, Update time : 1358.347 us, Write time : 437.189 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.107271 ms (missed cycles : 6).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.361264 ms (missed cycles : 8).[0m ×2 + 6.78sWARNcontroller_managerOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 2113.530 us (Expected < 1666.667 us) --> Read time : 235.810 us, Update time : 63.123 us, Write time : 1814.597 us[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.32sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.33sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.33sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 2.44sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780602302.91610909 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2). + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.32sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.33sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.33sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 2.44sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780602302.91610909 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2). + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 36 warnings · 78 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089713 ms (missed cycles : 3).[0m ×2 + 0.28sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780602299.08860707 seconds ×3 + 0.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.28sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization" + 0.32sINFOfoxglove_bridgeAdvertising new channel 75 for topic "/masks_visualization"[0m ×2 + 0.89sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780602299.69871950 seconds. ×3 + 0.92sWARNcontroller_managerOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us + 0.92sWARNros2_control_nodeOverrun might occur, Total time : 1941.172 us (Expected < 1666.667 us) --> Read time : 165.077 us, Update time : 1353.297 us, Write time : 422.798 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.217054 ms (missed cycles : 4).[0m ×2 + 1.32sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 1.32sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String) + 1.33sINFOfoxglove_bridgeRemoving channel 75 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 1.33sINFOfoxglove_bridgeRemoving channel 74 for topic "/moveit_pro_ui/switch_primary_view" (std_msgs/msg/String)[0m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264281774 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.45sINFOobjective_server_node[0;93m2026-06-04 19:45:00.264326636 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779439014 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 1.97sINFOobjective_server_node[0;93m2026-06-04 19:45:00.779480166 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.737439 ms (missed cycles : 3).[0m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.899341028 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 5 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901491139 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.09sINFOobjective_server_node[0;93m2026-06-04 19:45:00.901519710 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 2212.634 us (Expected < 1666.667 us) --> Read time : 182.498 us, Update time : 1611.268 us, Write time : 418.868 us[0m ×2 + 2.44sINFOobjective_server_node[0;93m2026-06-04 19:45:01.246625448 [W:onnxruntime:, transformer_memcpy.cc:111 ApplyImpl] 1 Memcpy nodes are added to the graph main_graph for CUDAExecutionProvider. It might have negative impact on performance (including unable to run CUDA graph). Set session_options.log_severity_level=1 to see the detail logs before this message.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266730427 [W:onnxruntime:, session_state.cc:1316 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.[m ×2 + 2.46sINFOobjective_server_node[0;93m2026-06-04 19:45:01.266788010 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.715259 ms (missed cycles : 4).[0m ×2 + 3.29sWARNcontroller_managerOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us + 3.29sWARNros2_control_nodeOverrun might occur, Total time : 3128.441 us (Expected < 1666.667 us) --> Read time : 273.112 us, Update time : 2340.368 us, Write time : 514.961 us[0m ×2 + 3.33sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780602302.14432168 seconds ×3 + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization" + 3.34sINFOfoxglove_bridgeAdvertising new channel 76 for topic "/masks_visualization"[0m ×2 + 4.10sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780602302.91610909 seconds. ×3 + 4.11sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2). + 4.12sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214030 ms (missed cycles : 2).[0m ×2 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.3570915199779173;y=0.40019899392043623;z=0.5599866624662595, orientation: x=-0.00043618372852454053;y=0.9950374681660646;z=0.09949580474111015;w=-0.0009118817586015723 ×3 + 4.20sINFOobjective_server_nodeLink name: grasp_link, position: x=0.5548583366000296;y=0.5603299792530564;z=0.6462137171949893, orientation: x=-0.00036536671571511044;y=0.9953919396680009;z=0.09587698761713775;w=-0.0015349907495373768 ×3 + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution" + 4.35sINFOfoxglove_bridgeRemoving channel 76 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 77 for topic "/solution"[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 4.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-04 19:45:03.323] [info] Accepted new action goal ×2 + 4.56sWARNcontroller_managerOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us + 4.57sWARNros2_control_nodeOverrun might occur, Total time : 2329.589 us (Expected < 1666.667 us) --> Read time : 299.063 us, Update time : 848.766 us, Write time : 1181.760 us[0m ×2 + 5.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5). + 5.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.407853 ms (missed cycles : 5).[0m ×2 + 5.87sWARNcontroller_managerOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us + 5.87sWARNros2_control_nodeOverrun might occur, Total time : 1994.965 us (Expected < 1666.667 us) --> Read time : 253.101 us, Update time : 768.663 us, Write time : 973.201 us[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385492 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 36 warnings · 47 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313430 ms (missed cycles : 2). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.313430 ms (missed cycles : 2).[0m ×2 + 0.51sWARNcontroller_managerOverrun might occur, Total time : 1883.600 us (Expected < 1666.667 us) --> Read time : 312.944 us, Update time : 650.047 us, Write time : 920.609 us + 0.51sWARNros2_control_nodeOverrun might occur, Total time : 1883.600 us (Expected < 1666.667 us) --> Read time : 312.944 us, Update time : 650.047 us, Write time : 920.609 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745769 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.745769 ms (missed cycles : 2).[0m ×2 + 1.88sWARNcontroller_managerOverrun might occur, Total time : 2790.688 us (Expected < 1666.667 us) --> Read time : 201.619 us, Update time : 1170.009 us, Write time : 1419.060 us + 1.88sWARNros2_control_nodeOverrun might occur, Total time : 2790.688 us (Expected < 1666.667 us) --> Read time : 201.619 us, Update time : 1170.009 us, Write time : 1419.060 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.286258 ms (missed cycles : 8). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.286258 ms (missed cycles : 8).[0m ×2 + 2.92sWARNcontroller_managerOverrun might occur, Total time : 7385.382 us (Expected < 1666.667 us) --> Read time : 204.578 us, Update time : 6596.109 us, Write time : 584.695 us + 2.92sWARNros2_control_nodeOverrun might occur, Total time : 7385.382 us (Expected < 1666.667 us) --> Read time : 204.578 us, Update time : 6596.109 us, Write time : 584.695 us[0m ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144168 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144168 ms (missed cycles : 2).[0m ×2 + 3.17sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780602356.73639894 seconds ×3 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.23sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.81sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780602357.37897158 seconds. ×3 + 3.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.97sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.99sINFOros2_control_node[2026-06-04 19:45:57.552] [info] Received new action goal ×2 + 3.99sINFOros2_control_node[2026-06-04 19:45:57.552] [info] Accepted new action goal ×2 + 4.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479647 ms (missed cycles : 5). + 4.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.479647 ms (missed cycles : 5).[0m ×2 + 4.25sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event" + 4.25sINFOfoxglove_bridgeAdvertising new channel 78 for topic "/agent_event"[0m ×2 + 4.59sWARNcontroller_managerOverrun might occur, Total time : 9439.029 us (Expected < 1666.667 us) --> Read time : 179.748 us, Update time : 8627.685 us, Write time : 631.596 us + 4.59sWARNros2_control_nodeOverrun might occur, Total time : 9439.029 us (Expected < 1666.667 us) --> Read time : 179.748 us, Update time : 8627.685 us, Write time : 631.596 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109450 ms (missed cycles : 2). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109450 ms (missed cycles : 2).[0m ×2 + 5.25sINFOobjective_server_nodeLink name: grasp_link, position: x=-0.16727752384940525;y=0.47323919871065;z=0.7971805284211555, orientation: x=0.5894248519484582;y=0.7987881401812754;z=0.09721280806199328;w=-0.07117247333048911 ×3 + 5.26sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 5.31sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_admittance_controller ×3 + 5.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 5.31sINFOcontroller_managerSuccessfully switched controllers! + 5.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.62sWARNcontroller_managerOverrun might occur, Total time : 2182.512 us (Expected < 1666.667 us) --> Read time : 299.802 us, Update time : 854.266 us, Write time : 1028.444 us + 5.63sWARNros2_control_nodeOverrun might occur, Total time : 2182.512 us (Expected < 1666.667 us) --> Read time : 299.802 us, Update time : 854.266 us, Write time : 1028.444 us[0m ×2 + 6.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749585 ms (missed cycles : 2). + 6.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749585 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 744 errors · 39 warnings · 1530 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×372 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001964727962 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×744 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001964727962[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002076715878 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002076715878[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001387956972 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001387956972[0m ×2 + 0.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000819173974 + 0.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000819173974[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002607313304 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002607313304[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002344660043 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002344660043[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001144198711 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001144198711[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001315352968 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001315352968[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857022930 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000857022930[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633279213 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001633279213[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001862141018 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001862141018[0m ×2 + 0.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788643332 + 0.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001788643332[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011554639442 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000011554639442[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284938427 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002284938427[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001408029592 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001408029592[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001429086562 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001429086562[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853349110 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001853349110[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424399096 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000424399096[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002446120551 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002446120551[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215287079 + 0.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215287079[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001644925378 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001644925378[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987683984 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000987683984[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001693166167 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001693166167[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002056167969 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002056167969[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488109820 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000488109820[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001062752209 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001062752209[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001675356235 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001675356235[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002081581754 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002081581754[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000554169312 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000554169312[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001989221282 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001989221282[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000868234946 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000868234946[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001045770011 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001045770011[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782214468 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000782214468[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968373716 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000968373716[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000597249432 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000597249432[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001498727301 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001498727301[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001061898625 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001061898625[0m ×2 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008248277282 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000008248277282[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001726284840 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001726284840[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296906121 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000296906121[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001343128420 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001343128420[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152982536 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000152982536[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558185263 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001558185263[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817303817 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000817303817[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000594091865 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000594091865[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000925451608 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000925451608[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199546 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000724199546[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960161545 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000960161545[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001029554193 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001029554193[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548793068 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000548793068[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830537965 + 0.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001830537965[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133848245 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000133848245[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907185634 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000907185634[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763087903 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000763087903[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000589213991 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000589213991[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530980044 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000530980044[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000944409158 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000944409158[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516485784 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516485784[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000627287706 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000627287706[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000833382377 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000833382377[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918874485 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000918874485[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978140596 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000978140596[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404474781 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404474781[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000537485344 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000537485344[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001044406996 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001044406996[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001166933540 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001166933540[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961207611 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000961207611[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000490375846 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000490375846[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000670723829 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000670723829[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440415802 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000440415802[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001397956936 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001397956936[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433144983 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000433144983[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000880438976 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000880438976[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000355444737 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000355444737[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001240298430 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000001240298430[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625985458 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000625985458[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000489438183 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000489438183[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000404300152 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000404300152[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000990741686 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000990741686[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001022224833 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001022224833[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421027268 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421027268[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000574258005 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000574258005[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000740713406 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000740713406[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000666285927 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000666285927[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356557534 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000356557534[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000357636494 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000357636494[0m ×2 + 0.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177326 ms (missed cycles : 2). + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000815184373 + 0.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177326 ms (missed cycles : 2).[0m ×2 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000815184373[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842403075 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000842403075[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000380526135 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000380526135[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456696776 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000456696776[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000921315783 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000921315783[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028996548 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001028996548[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004371256361 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000004371256361[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000921837395 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000921837395[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158312034 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000158312034[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516295902 + 0.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000516295902[0m ×2 + 0.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000630711608 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000630711608[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000343425109 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000343425109[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000441190738 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000441190738[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535289157 + 0.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000535289157[0m ×2 + 0.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217964044 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000217964044[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281357422 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000281357422[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000558223356 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000558223356[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000615509008 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000615509008[0m ×2 + 0.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000267459373 + 0.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000267459373[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213428192 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000213428192[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000509698349 + 0.99sWARNcontroller_managerOverrun might occur, Total time : 1734.004 us (Expected < 1666.667 us) --> Read time : 364.126 us, Update time : 217.959 us, Write time : 1151.919 us + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000509698349[0m ×2 + 0.99sWARNros2_control_nodeOverrun might occur, Total time : 1734.004 us (Expected < 1666.667 us) --> Read time : 364.126 us, Update time : 217.959 us, Write time : 1151.919 us[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000322956700 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000322956700[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389052896 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000389052896[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003018709671 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003018709671[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000822523365 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000822523365[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430113959 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000430113959[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000333900434 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000333900434[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003452208464 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003452208464[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476141541 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000476141541[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268466382 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000268466382[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673549209 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000673549209[0m ×2 + 1.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405364335 + 1.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405364335[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440250869 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000440250869[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200340691 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000200340691[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303991990 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000303991990[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338169372 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000338169372[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438182134 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000438182134[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415349283 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000415349283[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196708422 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000196708422[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140714918 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000140714918[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716513755 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000716513755[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002756005524 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000002756005524[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000332152332 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000332152332[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225785041 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000225785041[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000488964466 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000488964466[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129929824 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000129929824[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244750236 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000244750236[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404238911 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000404238911[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156384748 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000156384748[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481543430 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000481543430[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003182532726 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000003182532726[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405518353 + 1.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000405518353[0m ×2 + 1.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000334185046 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000334185046[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001465874691 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001465874691[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278144300 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000278144300[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000408588686 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000408588686[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135211985 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135211985[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000278570962 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000278570962[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000264194083 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000264194083[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000371141271 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000371141271[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001445324782 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001445324782[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387863488 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000387863488[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270347208 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270347208[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237984962 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237984962[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361829566 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000361829566[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001904015911 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001904015911[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222152848 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000222152848[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421838233 + 1.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000421838233[0m ×2 + 1.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000960211857 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000960211857[0m ×2 + 1.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289191333 + 1.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000289191333[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000202380761 + 1.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000202380761[0m ×2 + 1.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000176811103 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000176811103[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270531425 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000270531425[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001469717080 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001469717080[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164915061 + 1.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000164915061[0m ×2 + 1.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000240503942 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000240503942[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120414565 + 1.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120414565[0m ×2 + 1.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000405804009 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000405804009[0m ×2 + 1.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001787935563 + 1.55sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001787935563[0m ×2 + 1.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000254468998 + 1.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000254468998[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246371557 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000246371557[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001233269822 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001233269822[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000210475273 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000210475273[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517894258 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001517894258[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168232539 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000168232539[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173350052 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000173350052[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583307060 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001583307060[0m ×2 + 1.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124798906 + 1.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000124798906[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167865534 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000167865534[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135772859 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000135772859[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172589328 + 1.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172589328[0m ×2 + 1.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001048971285 + 1.68sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001048971285[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169203638 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000169203638[0m ×2 + 1.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132613829 + 1.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000132613829[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000938008650 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000938008650[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171291551 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000171291551[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001004826353 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001004826353[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160748563 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160748563[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000122780063 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000122780063[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001008090617 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001008090617[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183366613 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183366613[0m ×2 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251120680 + 1.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000251120680[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000990254427 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000990254427[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860248893 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000860248893[0m ×2 + 1.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172286932 + 1.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000172286932[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171375484 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001171375484[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001005326407 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001005326407[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000155875766 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000155875766[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001573599201 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001573599201[0m ×2 + 1.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680082 ms (missed cycles : 2). + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321955083 + 1.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.680082 ms (missed cycles : 2).[0m ×2 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001321955083[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156846126 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000156846126[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001413772635 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001413772635[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001484456750 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001484456750[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000131300846 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000131300846[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001493999834 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001493999834[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001560979875 + 1.89sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001560979875[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126671946 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000126671946[0m ×2 + 1.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000946046125 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000946046125[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137970121 + 1.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137970121[0m ×2 + 1.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134401288 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000134401288[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029631506 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001029631506[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059103041 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001059103041[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137355035 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137355035[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001329656817 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001329656817[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001061235367 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001061235367[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000907858810 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000907858810[0m ×2 + 1.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001299773567 + 1.99sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001299773567[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001310111908 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001310111908[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102360540 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001102360540[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001425021201 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001425021201[0m ×2 + 2.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001432293043 + 2.02sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001432293043[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001148334028 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001148334028[0m ×2 + 2.04sWARNcontroller_managerOverrun might occur, Total time : 2344.219 us (Expected < 1666.667 us) --> Read time : 410.977 us, Update time : 1442.481 us, Write time : 490.761 us + 2.04sWARNros2_control_nodeOverrun might occur, Total time : 2344.219 us (Expected < 1666.667 us) --> Read time : 410.977 us, Update time : 1442.481 us, Write time : 490.761 us[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000941180918 + 2.05sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000941180918[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043257530 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000001043257530[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000174864587 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000174864587[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000587906891 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000587906891[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000470964294 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000470964294[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000477941931 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000477941931[0m ×2 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000386363008 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000386363008[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000209429268 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000209429268[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000280265619 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000280265619[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525627710 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000525627710[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415480640 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000415480640[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333209708 + 2.18sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000333209708[0m ×2 + 2.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339163980 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000339163980[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000273408692 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000273408692[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000219923116 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000219923116[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177612484 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000177612484[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000181931430 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000181931430[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000124664256 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000124664256[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155390041 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000155390041[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000545222082 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000545222082[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000728714128 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000728714128[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573033924 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000573033924[0m ×2 + 2.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000456634944 + 2.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000456634944[0m ×2 + 2.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000459199484 + 2.28sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000459199484[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365350559 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000365350559[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089796 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089796[0m ×2 + 2.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089799 + 2.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000291089799[0m ×2 + 2.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231457088 + 2.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000231457088[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184072092 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000184072092[0m ×2 + 2.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000131312660 + 2.35sERRORros2_control_nodeVelocity of last trajectory point of joint wrist_3_joint is not zero: 0.000000131312660[0m ×2 + 2.35sINFOjoint_trajectory_controllerAccepted new action goal ×124 + 2.35sINFOros2_control_nodeAccepted new action goal[0m ×248 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269432 ms (missed cycles : 4). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.269432 ms (missed cycles : 4).[0m ×2 + 3.11sWARNcontroller_managerOverrun might occur, Total time : 3605.772 us (Expected < 1666.667 us) --> Read time : 360.365 us, Update time : 2801.798 us, Write time : 443.609 us + 3.12sWARNros2_control_nodeOverrun might occur, Total time : 3605.772 us (Expected < 1666.667 us) --> Read time : 360.365 us, Update time : 2801.798 us, Write time : 443.609 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780602415.72210550 seconds ×3 + 3.54sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825472 ms (missed cycles : 7). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.825472 ms (missed cycles : 7).[0m ×2 + 3.96sINFOjoint_trajectory_controllerGoal reached, success! + 3.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780602416.32896304 seconds. ×3 + 4.16sWARNcontroller_managerOverrun might occur, Total time : 9247.472 us (Expected < 1666.667 us) --> Read time : 295.532 us, Update time : 8327.863 us, Write time : 624.077 us + 4.16sWARNros2_control_nodeOverrun might occur, Total time : 9247.472 us (Expected < 1666.667 us) --> Read time : 295.532 us, Update time : 8327.863 us, Write time : 624.077 us[0m ×2 + 4.22sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.22sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.22sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.22sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.22sINFOcontroller_managerSuccessfully switched controllers! + 4.22sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.22sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.22sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 4.31sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 4.34sINFOros2_control_node[2026-06-04 19:46:56.524] [info] Received new action goal ×2 + 4.34sINFOros2_control_node[2026-06-04 19:46:56.524] [info] Accepted new action goal ×2 + 4.35sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view" + 4.35sINFOfoxglove_bridgeAdvertising new channel 79 for topic "/moveit_pro_ui/switch_primary_view"[0m ×2 + 4.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388119 ms (missed cycles : 3). + 4.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388119 ms (missed cycles : 3).[0m ×2 + 5.35sWARNcontroller_managerOverrun might occur, Total time : 1934.712 us (Expected < 1666.667 us) --> Read time : 256.091 us, Update time : 632.597 us, Write time : 1046.024 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 1934.712 us (Expected < 1666.667 us) --> Read time : 256.091 us, Update time : 632.597 us, Write time : 1046.024 us[0m ×2 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683468 ms (missed cycles : 2). + 5.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.683468 ms (missed cycles : 2).[0m ×2 + 6.41sWARNcontroller_managerOverrun might occur, Total time : 5521.843 us (Expected < 1666.667 us) --> Read time : 281.272 us, Update time : 4642.846 us, Write time : 597.725 us + 6.41sWARNros2_control_nodeOverrun might occur, Total time : 5521.843 us (Expected < 1666.667 us) --> Read time : 281.272 us, Update time : 4642.846 us, Write time : 597.725 us[0m ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859041 ms (missed cycles : 4). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.859041 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346662 ms (missed cycles : 2).[0m ×2 + 0.26sWARNcontroller_managerOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us + 0.26sWARNros2_control_nodeOverrun might occur, Total time : 1944.452 us (Expected < 1666.667 us) --> Read time : 756.962 us, Update time : 778.143 us, Write time : 409.347 us[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.295556 ms (missed cycles : 5).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 3840.923 us (Expected < 1666.667 us) --> Read time : 279.052 us, Update time : 1204.921 us, Write time : 2356.950 us[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.170911 ms (missed cycles : 2).[0m ×2 + 2.64sWARNcontroller_managerOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us + 2.64sWARNros2_control_nodeOverrun might occur, Total time : 1721.583 us (Expected < 1666.667 us) --> Read time : 191.808 us, Update time : 72.853 us, Write time : 1456.922 us[0m ×2 + 2.64sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.64sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.817485 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780602479.44338179 seconds ×3 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.78sWARNcontroller_managerOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us + 3.78sWARNros2_control_nodeOverrun might occur, Total time : 2847.831 us (Expected < 1666.667 us) --> Read time : 211.139 us, Update time : 2140.511 us, Write time : 496.181 us[0m ×2 + 4.24sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.24sINFOfoxglove_bridgeRemoving channel 81 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780602480.19582129 seconds. ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958870 ms (missed cycles : 3).[0m ×2 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.47sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.48sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Received new action goal ×2 + 4.48sINFOros2_control_node[2026-06-04 19:48:00.430] [info] Accepted new action goal ×2 + 4.75sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image) + 4.75sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution" + 4.75sINFOfoxglove_bridgeRemoving channel 80 for topic "/masks_visualization" (sensor_msgs/msg/Image)[0m ×2 + 4.75sINFOfoxglove_bridgeAdvertising new channel 82 for topic "/preview_solution"[0m ×2 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us + 4.98sWARNros2_control_nodeOverrun might occur, Total time : 5569.887 us (Expected < 1666.667 us) --> Read time : 298.353 us, Update time : 4683.119 us, Write time : 588.415 us[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928462 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us + 6.14sWARNros2_control_nodeOverrun might occur, Total time : 2086.058 us (Expected < 1666.667 us) --> Read time : 226.749 us, Update time : 229.390 us, Write time : 1629.919 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686057 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 39 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2528.737 us (Expected < 1666.667 us) --> Read time : 204.358 us, Update time : 1086.706 us, Write time : 1237.673 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.766186 ms (missed cycles : 4).[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 6634.651 us (Expected < 1666.667 us) --> Read time : 217.729 us, Update time : 5812.876 us, Write time : 604.046 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-04 19:48:08.353] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.169883 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us + 2.54sWARNros2_control_nodeOverrun might occur, Total time : 5627.728 us (Expected < 1666.667 us) --> Read time : 204.619 us, Update time : 4785.312 us, Write time : 637.797 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3). + 2.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157631 ms (missed cycles : 3).[0m ×2 + 2.88sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.88sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Received new action goal ×2 + 3.25sINFOros2_control_node[2026-06-04 19:48:10.130] [info] Accepted new action goal ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Got request to cancel active goal. ×2 + 3.64sINFOros2_control_node[2026-06-04 19:48:10.516] [info] Canceling active goal... ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2). + 3.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271530 ms (missed cycles : 2).[0m ×2 + 3.65sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780602490.53115106 seconds ×3 + 3.70sWARNcontroller_managerOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 5830.347 us (Expected < 1666.667 us) --> Read time : 214.200 us, Update time : 5038.092 us, Write time : 578.055 us[0m ×2 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780602491.18281126 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution) + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 4.45sINFOfoxglove_bridgeRemoving channel 83 for topic "/solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.45sINFOfoxglove_bridgeRemoving channel 78 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 4.48sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Received new action goal ×2 + 4.49sINFOros2_control_node[2026-06-04 19:48:11.367] [info] Accepted new action goal ×2 + 4.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.131591 ms (missed cycles : 4).[0m ×2 + 4.76sWARNcontroller_managerOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us + 4.76sWARNros2_control_nodeOverrun might occur, Total time : 1787.035 us (Expected < 1666.667 us) --> Read time : 184.327 us, Update time : 69.683 us, Write time : 1533.025 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.515963 ms (missed cycles : 7).[0m ×2 + 6.09sWARNcontroller_managerOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us + 6.09sWARNros2_control_nodeOverrun might occur, Total time : 2773.718 us (Expected < 1666.667 us) --> Read time : 187.098 us, Update time : 2111.130 us, Write time : 475.490 us[0m ×2 + 6.42sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.039859 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 33 warnings · 21 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406560 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.406560 ms (missed cycles : 3).[0m ×2 + 0.02sWARNcontroller_managerOverrun might occur, Total time : 2717.596 us (Expected < 1666.667 us) --> Read time : 2056.809 us, Update time : 90.453 us, Write time : 570.334 us + 0.02sWARNros2_control_nodeOverrun might occur, Total time : 2717.596 us (Expected < 1666.667 us) --> Read time : 2056.809 us, Update time : 90.453 us, Write time : 570.334 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835592 ms (missed cycles : 6). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.835592 ms (missed cycles : 6).[0m ×2 + 1.31sWARNcontroller_managerOverrun might occur, Total time : 1685.633 us (Expected < 1666.667 us) --> Read time : 643.518 us, Update time : 55.813 us, Write time : 986.302 us + 1.32sWARNros2_control_nodeOverrun might occur, Total time : 1685.633 us (Expected < 1666.667 us) --> Read time : 643.518 us, Update time : 55.813 us, Write time : 986.302 us[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320803 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320803 ms (missed cycles : 2).[0m ×2 + 2.38sWARNcontroller_managerOverrun might occur, Total time : 7332.696 us (Expected < 1666.667 us) --> Read time : 173.278 us, Update time : 6641.136 us, Write time : 518.282 us + 2.38sWARNros2_control_nodeOverrun might occur, Total time : 7332.696 us (Expected < 1666.667 us) --> Read time : 173.278 us, Update time : 6641.136 us, Write time : 518.282 us[0m ×2 + 2.76sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780602501.51313829 seconds ×3 + 2.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631394 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.631394 ms (missed cycles : 2).[0m ×2 + 3.32sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780602502.07370305 seconds. ×3 + 3.49sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.58sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.59sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 3.61sINFOros2_control_node[2026-06-04 19:48:22.363] [info] Received new action goal ×2 + 3.61sINFOros2_control_node[2026-06-04 19:48:22.363] [info] Accepted new action goal ×2 + 3.68sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 3.69sINFOfoxglove_bridgeRemoving channel 82 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.75sWARNcontroller_managerOverrun might occur, Total time : 8918.753 us (Expected < 1666.667 us) --> Read time : 231.120 us, Update time : 8119.098 us, Write time : 568.535 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 8918.753 us (Expected < 1666.667 us) --> Read time : 231.120 us, Update time : 8119.098 us, Write time : 568.535 us[0m ×2 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794297 ms (missed cycles : 4). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.794297 ms (missed cycles : 4).[0m ×2 + 4.86sWARNcontroller_managerOverrun might occur, Total time : 2908.275 us (Expected < 1666.667 us) --> Read time : 171.847 us, Update time : 2236.317 us, Write time : 500.111 us + 4.86sWARNros2_control_nodeOverrun might occur, Total time : 2908.275 us (Expected < 1666.667 us) --> Read time : 171.847 us, Update time : 2236.317 us, Write time : 500.111 us[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874112 ms (missed cycles : 4). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.874112 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 33 warnings · 27 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371931 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371931 ms (missed cycles : 2).[0m ×2 + 0.42sWARNcontroller_managerOverrun might occur, Total time : 1667.412 us (Expected < 1666.667 us) --> Read time : 253.671 us, Update time : 84.914 us, Write time : 1328.827 us + 0.42sWARNros2_control_nodeOverrun might occur, Total time : 1667.412 us (Expected < 1666.667 us) --> Read time : 253.671 us, Update time : 84.914 us, Write time : 1328.827 us[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969698 ms (missed cycles : 5). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.969698 ms (missed cycles : 5).[0m ×2 + 1.46sWARNcontroller_managerOverrun might occur, Total time : 5294.077 us (Expected < 1666.667 us) --> Read time : 219.669 us, Update time : 4579.757 us, Write time : 494.651 us + 1.46sWARNros2_control_nodeOverrun might occur, Total time : 5294.077 us (Expected < 1666.667 us) --> Read time : 219.669 us, Update time : 4579.757 us, Write time : 494.651 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567769 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.567769 ms (missed cycles : 4).[0m ×2 + 2.79sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780602511.97216320 seconds ×3 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.83sWARNcontroller_managerOverrun might occur, Total time : 1720.544 us (Expected < 1666.667 us) --> Read time : 284.153 us, Update time : 58.892 us, Write time : 1377.499 us + 2.83sWARNros2_control_nodeOverrun might occur, Total time : 1720.544 us (Expected < 1666.667 us) --> Read time : 284.153 us, Update time : 58.892 us, Write time : 1377.499 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698157 ms (missed cycles : 6). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.698157 ms (missed cycles : 6).[0m ×2 + 3.42sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780602512.60286379 seconds. ×3 + 3.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 3.54sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.55sINFOros2_control_node[2026-06-04 19:48:32.737] [info] Received new action goal ×2 + 3.55sINFOros2_control_node[2026-06-04 19:48:32.737] [info] Accepted new action goal ×2 + 3.86sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution" + 3.86sINFOfoxglove_bridgeAdvertising new channel 84 for topic "/preview_solution"[0m ×2 + 3.93sWARNcontroller_managerOverrun might occur, Total time : 2474.456 us (Expected < 1666.667 us) --> Read time : 321.764 us, Update time : 1464.193 us, Write time : 688.499 us + 3.93sWARNros2_control_nodeOverrun might occur, Total time : 2474.456 us (Expected < 1666.667 us) --> Read time : 321.764 us, Update time : 1464.193 us, Write time : 688.499 us[0m ×2 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157086 ms (missed cycles : 6). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.157086 ms (missed cycles : 6).[0m ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 1764.826 us (Expected < 1666.667 us) --> Read time : 223.960 us, Update time : 999.523 us, Write time : 541.343 us + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925346 ms (missed cycles : 2). + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 1764.826 us (Expected < 1666.667 us) --> Read time : 223.960 us, Update time : 999.523 us, Write time : 541.343 us[0m ×2 + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925346 ms (missed cycles : 2).[0m ×2 + 5.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2).[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 3.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 4.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 4.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 5.27sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2).[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 3.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 4.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 4.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 5.27sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 42 warnings · 68 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.758730 ms (missed cycles : 2).[0m ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us + 0.69sWARNros2_control_nodeOverrun might occur, Total time : 6384.855 us (Expected < 1666.667 us) --> Read time : 134.396 us, Update time : 45.672 us, Write time : 6204.787 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.906357 ms (missed cycles : 2).[0m ×2 + 1.87sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 1.87sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 3.01sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 3.01sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 3.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 3.56sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 3.58sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.58sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.03sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 4.28sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.28sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.28sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.28sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.30sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.30sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.32sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 4.32sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 4.32sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 4.33sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 4.33sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 4.59sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 4.92sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 4.92sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 5.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 5.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 5.27sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 5.27sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 5.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.70sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 5.70sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 5.72sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 6.39sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 6.39sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 39 warnings · 71 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 3481.329 us (Expected < 1666.667 us) --> Read time : 210.129 us, Update time : 38.762 us, Write time : 3232.438 us[0m ×2 + 0.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3). + 0.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206707 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 2282.797 us (Expected < 1666.667 us) --> Read time : 240.920 us, Update time : 1510.555 us, Write time : 531.322 us[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190632 ms (missed cycles : 2).[0m ×2 + 1.69sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780602523.12315011 seconds ×3 + 1.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.72sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.17sWARNcontroller_managerOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us + 2.17sWARNros2_control_nodeOverrun might occur, Total time : 3467.888 us (Expected < 1666.667 us) --> Read time : 304.243 us, Update time : 69.123 us, Write time : 3094.522 us[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780602523.69779348 seconds. ×3 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.145465 ms (missed cycles : 3).[0m ×2 + 2.41sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.41sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.41sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.41sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.44sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.44sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.45sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.45sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ] + 2.46sWARNcontroller_managerOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us + 2.46sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_admittance_controller ][0m ×2 + 2.46sWARNros2_control_nodeOverrun might occur, Total time : 6057.901 us (Expected < 1666.667 us) --> Read time : 217.789 us, Update time : 5231.215 us (Switch time : 3827.985 us (Switch chained mode time : 0.470 us, perform mode change time : 5.480 us, Activation time : 3811.714 us, Deactivation time : 0.460 us)), Write time : 608.897 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780602523.89795399 seconds ×3 + 2.72sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution) + 2.72sINFOfoxglove_bridgeRemoving channel 84 for topic "/preview_solution" (moveit_task_constructor_msgs/msg/Solution)[0m ×2 + 3.03sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780602524.46017528 seconds. ×3 + 3.05sINFOobjective_server_nodeSaveRobotJointStateToYaml Info: Successfully saved message YAML to '/__w/moveit_pro_example_ws/moveit_pro_example_ws/src/lab_sim/objectives/robot_joint_state.yaml' under namespace '' ×3 + 3.05sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780602524.48229003 seconds ×3 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463057 ms (missed cycles : 3).[0m ×2 + 3.40sWARNcontroller_managerOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us + 3.40sWARNros2_control_nodeOverrun might occur, Total time : 2148.723 us (Expected < 1666.667 us) --> Read time : 572.045 us, Update time : 59.992 us, Write time : 1516.686 us[0m ×2 + 3.73sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780602525.16735935 seconds. ×3 + 3.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.83sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 3.84sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.85sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Received new action goal ×2 + 3.85sINFOros2_control_node[2026-06-04 19:48:45.281] [info] Accepted new action goal ×2 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.658082 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 5424.844 us (Expected < 1666.667 us) --> Read time : 276.052 us, Update time : 77.433 us, Write time : 5071.359 us[0m ×2 + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692072 ms (missed cycles : 2).[0m ×2 + 5.72sWARNcontroller_managerOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us + 5.72sWARNros2_control_nodeOverrun might occur, Total time : 1905.072 us (Expected < 1666.667 us) --> Read time : 191.328 us, Update time : 45.892 us, Write time : 1667.852 us[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 42 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us + 1.49sWARNros2_control_nodeOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us[0m ×2 + 3.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Got request to cancel active goal. ×2 + 3.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Canceling active goal... ×2 + 3.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602535.62266707 seconds ×3 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602536.18629217 seconds. ×3 + 4.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 4.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602537.05669403 seconds ×3 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602537.62023520 seconds. ×3 + 5.73sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.73sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.73sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602537.62202740 seconds ×3 + 5.89sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.89sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 5.90sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.90sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602538.19249177 seconds. ×3 + 6.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602538.19299746 seconds ×3 + 6.40sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 6.40sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us[0m ×2 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 42 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366325 ms (missed cycles : 2).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 1814.358 us (Expected < 1666.667 us) --> Read time : 259.601 us, Update time : 107.414 us, Write time : 1447.343 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.364147 ms (missed cycles : 5).[0m ×2 + 1.49sWARNcontroller_managerOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us + 1.49sWARNros2_control_nodeOverrun might occur, Total time : 4279.864 us (Expected < 1666.667 us) --> Read time : 276.462 us, Update time : 120.645 us, Write time : 3882.757 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712418 ms (missed cycles : 2).[0m ×2 + 3.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2). + 3.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029773 ms (missed cycles : 2).[0m ×2 + 3.10sWARNcontroller_managerOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us + 3.10sWARNros2_control_nodeOverrun might occur, Total time : 2570.920 us (Expected < 1666.667 us) --> Read time : 222.559 us, Update time : 1824.909 us, Write time : 523.452 us[0m ×2 + 3.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Got request to cancel active goal. ×2 + 3.72sINFOros2_control_node[2026-06-04 19:48:55.617] [info] Canceling active goal... ×2 + 3.73sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780602535.62266707 seconds ×3 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.75sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672295 ms (missed cycles : 2).[0m ×2 + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780602536.18629217 seconds. ×3 + 4.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event" + 4.38sINFOfoxglove_bridgeAdvertising new channel 85 for topic "/agent_event"[0m ×2 + 4.49sWARNcontroller_managerOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 3621.942 us (Expected < 1666.667 us) --> Read time : 271.481 us, Update time : 2751.676 us, Write time : 598.785 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623175 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780602537.05669403 seconds ×3 + 5.60sWARNcontroller_managerOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us + 5.60sWARNros2_control_nodeOverrun might occur, Total time : 6192.623 us (Expected < 1666.667 us) --> Read time : 215.549 us, Update time : 5398.429 us, Write time : 578.645 us[0m ×2 + 5.73sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780602537.62023520 seconds. ×3 + 5.73sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.73sINFOobjective_server_nodeLogMessage Info: Copy and run the following command in your "moveit_pro shell" terminal, then rerun this Objective to get the secret message. ×3 + 5.73sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.73sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780602537.62202740 seconds ×3 + 5.89sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 5.89sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg" + 5.90sINFOfoxglove_bridgeRemoving channel 85 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 5.90sINFOfoxglove_bridgeAdvertising new channel 86 for topic "/secret_msg"[0m ×2 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.977375 ms (missed cycles : 3).[0m ×2 + 6.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780602538.19249177 seconds. ×3 + 6.30sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780602538.19299746 seconds ×3 + 6.40sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String) + 6.40sINFOfoxglove_bridgeRemoving channel 86 for topic "/secret_msg" (std_msgs/msg/String)[0m ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us + 6.60sWARNros2_control_nodeOverrun might occur, Total time : 5640.258 us (Expected < 1666.667 us) --> Read time : 150.486 us, Update time : 4827.004 us, Write time : 662.768 us[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 | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.1s | 61 warnings · 649 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-19-43-01-659553-1ed58e66fd62-9578 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.54sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.56sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.56sINFOcontroller_managerupdate rate is 600 Hz + 1.56sINFOcontroller_managerOverruns handling is : enabled + 1.56sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.56sWARNcontroller_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. + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237857 ms (missed cycles : 2). + 1.74sINFOros2_control_node-1process started with pid [9625] ×2 + 1.74sINFOmove_group-9process started with pid [9669] ×2 + 1.74sINFOparameter_manager_node-10process started with pid [9670] ×2 + 1.74sINFOwaypoint_manager_node-11process started with pid [9671] ×2 + 1.74sINFOmove_joint_resampler_node-12process started with pid [9672] ×2 + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [9673] ×2 + 1.74sINFOobjective_server_node_main-14process started with pid [9674] ×2 + 1.74sINFOcomponent_container_mt-15process started with pid [9675] ×2 + 1.74sINFOexecute_objective_bridge-16process started with pid [9676] ×2 + 1.74sINFOui_teleop_bridge-17process started with pid [9677] ×2 + 1.75sINFOfoxglove_bridge-18process started with pid [9678] ×2 + 1.75sINFOtf2_web_republisher_node-19process started with pid [9679] ×2 + 1.75sINFOweb_video_server-20process started with pid [9794] ×2 + 1.76sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9626] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9627] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9628] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9629] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9633] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9635] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9636] ×2 + 1.78sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.78sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.78sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.78sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.78sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.78sWARNros2_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 + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237857 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerReceived robot description from topic. + 1.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.79sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.79sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.81sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.81sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.97sINFOfoxglove_bridgeServer listening on port 3201 + 1.97sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic" + 1.98sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic"[0m ×2 + 2.05sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state" + 2.05sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint" + 2.07sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 2.07sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 2.07sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states" + 2.08sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states"[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values" + 2.09sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full" + 2.10sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf" + 2.10sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics" + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values" + 2.11sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description" + 2.11sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description"[0m ×2 + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names" + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names"[0m ×2 + 2.12sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full" + 2.13sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity" + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names" + 2.13sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint" + 2.14sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static" + 2.14sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout" + 2.15sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events" + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector" + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.20sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.20sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490133 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490133 ms (missed cycles : 3).[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.83sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.83sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.83sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.86sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.86sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.89sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.89sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.89sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.89sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.89sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.04sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.06sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 4.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.14sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics" + 4.14sINFOfoxglove_bridgeAdvertising new channel 31 for topic "/statistics"[0m ×2 + 4.14sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description" + 4.14sINFOfoxglove_bridgeAdvertising new channel 32 for topic "/description"[0m ×2 + 4.22sINFOobjective_server_node[2026-06-04 19:43:06.623] [moveit_pro_license] [info] ×2 + 4.22sINFOobjective_server_node************************************************* ×4 + 4.22sINFOobjective_server_node* MoveIt Pro License ×2 + 4.22sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.38sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.38sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.38sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.38sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.38sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.38sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.38sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.38sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.38sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.38sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.38sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.38sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.38sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.55sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 4.55sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 4.55sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 4.55sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 4.60sINFOobjective_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 + 4.60sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.61sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.61sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.67sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color" + 4.67sINFOfoxglove_bridgeAdvertising new channel 33 for topic "/wrist_camera/color"[0m ×2 + 4.68sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 4.68sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 4.68sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers" + 4.68sINFOfoxglove_bridgeAdvertising new channel 34 for topic "/visual_markers"[0m ×2 + 4.69sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info" + 4.69sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth" + 4.69sINFOfoxglove_bridgeAdvertising new channel 35 for topic "/scene_camera/camera_info"[0m ×2 + 4.69sINFOfoxglove_bridgeAdvertising new channel 36 for topic "/scene_camera/depth"[0m ×2 + 4.69sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector" + 4.69sINFOfoxglove_bridgeAdvertising new channel 37 for topic "/failure_reason_collector"[0m ×2 + 4.69sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points" + 4.69sINFOfoxglove_bridgeAdvertising new channel 38 for topic "/scene_camera/points"[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap" + 4.70sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 4.70sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color" + 4.70sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents" + 4.70sINFOfoxglove_bridgeAdvertising new channel 39 for topic "/transient_monitored_planning_scene_without_octomap"[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 40 for topic "/scene_camera/color"[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 41 for topic "/blackboard_contents"[0m ×2 + 4.70sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 4.70sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status" + 4.70sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/points" + 4.70sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info" + 4.70sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/depth" + 4.70sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 4.70sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 42 for topic "/behavior_tree_status"[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 43 for topic "/wrist_camera/points"[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 44 for topic "/wrist_camera/camera_info"[0m ×2 + 4.70sINFOfoxglove_bridgeAdvertising new channel 45 for topic "/wrist_camera/depth"[0m ×2 + 4.70sINFOros2_control_node[2026-06-04 19:43:07.097] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.70sINFOros2_control_node[2026-06-04 19:43:07.097] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 4.71sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 4.73sINFOros2_control_node[2026-06-04 19:43:07.126] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 4.73sINFOros2_control_node[2026-06-04 19:43:07.126] [info] Controller state will be published at 50 Hz. ×2 + 4.74sINFOros2_control_node[2026-06-04 19:43:07.134] [info] Registered `FollowJointTrajectory` action server. ×2 + 4.96sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816501 ms (missed cycles : 2). + 5.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.816501 ms (missed cycles : 2).[0m ×2 + 5.02sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 5.02sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 5.02sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 5.02sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 5.02sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 5.02sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 5.03sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 5.03sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 5.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 9633] ×2 + 5.07sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 5.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 5.08sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 5.08sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 5.09sINFOforce_torque_sensor_broadcasterconfigure successful + 5.09sINFOros2_control_nodeconfigure successful[0m ×2 + 5.09sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 5.09sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 5.09sINFOcontroller_managerSuccessfully switched controllers! ×4 + 5.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 5.09sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 5.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 5.10sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.10sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.10sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.10sWARNcontroller_managerOverrun might occur, Total time : 3460.917 us (Expected < 1666.667 us) --> Read time : 313.183 us, Update time : 22.191 us, Write time : 3125.543 us + 5.10sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.10sWARNros2_control_nodeOverrun might occur, Total time : 3460.917 us (Expected < 1666.667 us) --> Read time : 313.183 us, Update time : 22.191 us, Write time : 3125.543 us[0m ×2 + 5.10sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.11sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.16sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.20sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.26sINFOmove_group ×4 + 5.26sINFOmove_group[92mYou can start planning now![0m ×2 + 5.39sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 5.39sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 5.39sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/trajectory_execution_event" + 5.39sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 5.39sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.39sINFOfoxglove_bridgeAdvertising new channel 46 for topic "/trajectory_execution_event"[0m ×2 + 5.39sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event" + 5.39sINFOfoxglove_bridgeAdvertising new channel 47 for topic "/joint_trajectory_admittance_controller/transition_event"[0m ×2 + 5.40sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state" + 5.40sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench_filtered" + 5.40sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event" + 5.40sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench" + 5.40sINFOfoxglove_bridgeAdvertising new channel 48 for topic "/joint_trajectory_admittance_controller/controller_state"[0m ×2 + 5.40sINFOfoxglove_bridgeAdvertising new channel 49 for topic "/force_torque_sensor_broadcaster/wrench_filtered"[0m ×2 + 5.40sINFOfoxglove_bridgeAdvertising new channel 50 for topic "/force_torque_sensor_broadcaster/transition_event"[0m ×2 + 5.40sINFOfoxglove_bridgeAdvertising new channel 51 for topic "/force_torque_sensor_broadcaster/wrench"[0m ×2 + 5.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 9626] ×2 + 5.48sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 5.48sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 5.53sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.53sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.53sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.55sWARNobjective_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 + 5.56sINFOros2_control_node[2026-06-04 19:43:07.963] [info] Controller state will be published at 20 Hz. ×2 + 5.57sINFOros2_control_node[2026-06-04 19:43:07.964] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.84sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.84sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.84sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.84sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.85sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 5.85sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 5.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9636] ×2 + 5.86sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.86sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.89sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 5.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 5.90sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.90sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.90sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.90sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.90sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us + 5.91sWARNros2_control_nodeOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us[0m ×2 + 5.91sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 5.91sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 6.02sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 6.02sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 6.02sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event" + 6.02sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event" + 6.02sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 6.02sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m ×2 + 6.02sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 6.02sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 6.19sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 6.19sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 6.19sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 6.19sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 6.20sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 6.20sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 6.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9627] ×2 + 6.27sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 6.27sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 6.27sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 6.27sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 6.27sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 6.27sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 6.27sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 6.27sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 6.27sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 6.28sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 6.28sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 6.28sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 6.28sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 6.28sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 6.28sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.28sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.29sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 6.29sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5).[0m ×2 + 6.56sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 6.58sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event" + 6.58sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 6.58sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input" + 6.58sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state" + 6.58sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 6.58sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 6.58sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory" + 6.58sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 6.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 6.61sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 6.63sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9629] ×2 + 6.65sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 6.65sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 6.90sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 6.90sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 6.90sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 6.90sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 6.91sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 6.91sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 6.92sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 6.92sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 6.92sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 6.92sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 6.92sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 6.92sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 6.92sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 6.92sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 6.92sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 6.93sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 6.93sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 6.93sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 6.93sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 6.93sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 6.94sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 6.94sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 7.12sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event" + 7.12sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 7.12sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states" + 7.12sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states"[0m ×2 + 7.19sWARNcontroller_managerOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us + 7.19sWARNros2_control_nodeOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us[0m ×2 + 7.26sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9628] ×2 + 7.32sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780602189.71677256 seconds. ×3 + 7.33sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780602189.72705555 seconds ×3 + 7.33sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 7.33sINFOcontroller_managerLoading controller 'velocity_force_controller' + 7.33sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 7.33sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 7.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 7.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 7.45sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 7.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 7.46sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 7.46sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 7.49sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 7.49sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 7.66sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 7.66sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 7.66sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 7.66sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 7.67sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 7.67sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 7.67sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 7.67sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 7.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 7.88sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 7.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 7.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.21sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 8.21sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 8.55sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 8.55sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 8.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 8.99sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 9.57sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 9.58sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 9.58sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 9.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 9.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 10.64sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 10.83sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 10.83sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 45 warnings · 117 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 0.34sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.49sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 7.45sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 7.45sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 42 warnings · 138 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 0.18sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 0.18sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.72sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.06sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 1.06sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 3.35sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.21sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 5.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.90sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.93sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 6.72sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 6.72sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 211 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/lab_sim/test_results/lab_sim/ros_logs/2026-06-04-19-43-01-659553-1ed58e66fd62-9578 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.54sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.56sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.56sINFOcontroller_managerupdate rate is 600 Hz + 1.56sINFOcontroller_managerOverruns handling is : enabled + 1.56sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.56sWARNcontroller_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. + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237857 ms (missed cycles : 2). + 1.74sINFOros2_control_node-1process started with pid [9625] ×2 + 1.74sINFOmove_group-9process started with pid [9669] ×2 + 1.74sINFOparameter_manager_node-10process started with pid [9670] ×2 + 1.74sINFOwaypoint_manager_node-11process started with pid [9671] ×2 + 1.74sINFOmove_joint_resampler_node-12process started with pid [9672] ×2 + 1.74sINFOmove_end_effector_resampler_node-13process started with pid [9673] ×2 + 1.74sINFOobjective_server_node_main-14process started with pid [9674] ×2 + 1.74sINFOcomponent_container_mt-15process started with pid [9675] ×2 + 1.74sINFOexecute_objective_bridge-16process started with pid [9676] ×2 + 1.74sINFOui_teleop_bridge-17process started with pid [9677] ×2 + 1.75sINFOfoxglove_bridge-18process started with pid [9678] ×2 + 1.75sINFOtf2_web_republisher_node-19process started with pid [9679] ×2 + 1.75sINFOweb_video_server-20process started with pid [9794] ×2 + 1.76sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [9626] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [9627] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [9628] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [9629] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [9633] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [9635] ×2 + 1.76sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [9636] ×2 + 1.78sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.78sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.78sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.78sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.78sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.78sWARNros2_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 + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.237857 ms (missed cycles : 2).[0m ×2 + 1.79sINFOcontroller_managerReceived robot description from topic. + 1.79sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.79sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.79sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.81sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.81sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.82sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@) + 1.93sINFOfoxglove_bridgeStarting foxglove_bridge (jazzy, 3.2.6@)[0m ×2 + 1.97sINFOfoxglove_bridgeServer listening on port 3201 + 1.97sINFOfoxglove_bridgeServer listening on port 3201[0m ×2 + 1.98sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic" + 1.98sINFOfoxglove_bridgeAdvertising new channel 1 for topic "/robot_description_semantic"[0m ×2 + 2.05sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state" + 2.05sINFOfoxglove_bridgeAdvertising new channel 2 for topic "/moveit_pro_ui/store_joint_state"[0m ×2 + 2.06sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint" + 2.07sINFOfoxglove_bridgeAdvertising new channel 3 for topic "/moveit_pro_ui/move_joint"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat" + 2.07sINFOfoxglove_bridgeAdvertising new channel 4 for topic "/objective_server_heartbeat"[0m ×2 + 2.07sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector" + 2.07sINFOfoxglove_bridgeAdvertising new channel 5 for topic "/moveit_pro_ui/move_end_effector"[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states" + 2.08sINFOfoxglove_bridgeAdvertising new channel 6 for topic "/joint_states"[0m ×2 + 2.08sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values" + 2.09sINFOfoxglove_bridgeAdvertising new channel 7 for topic "/controller_manager/statistics/values"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full" + 2.10sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf" + 2.10sINFOfoxglove_bridgeAdvertising new channel 8 for topic "/controller_manager/statistics/full"[0m ×2 + 2.10sINFOfoxglove_bridgeAdvertising new channel 9 for topic "/tf"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics" + 2.11sINFOfoxglove_bridgeAdvertising new channel 10 for topic "/diagnostics"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values" + 2.11sINFOfoxglove_bridgeAdvertising new channel 11 for topic "/controller_manager/introspection_data/values"[0m ×2 + 2.11sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description" + 2.11sINFOfoxglove_bridgeAdvertising new channel 12 for topic "/robot_description"[0m ×2 + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names" + 2.12sINFOfoxglove_bridgeAdvertising new channel 13 for topic "/controller_manager/introspection_data/names"[0m ×2 + 2.12sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full" + 2.13sINFOfoxglove_bridgeAdvertising new channel 14 for topic "/controller_manager/introspection_data/full"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity" + 2.13sINFOfoxglove_bridgeAdvertising new channel 15 for topic "/controller_manager/activity"[0m ×2 + 2.13sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names" + 2.13sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint" + 2.14sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static" + 2.14sINFOfoxglove_bridgeAdvertising new channel 16 for topic "/controller_manager/statistics/names"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 17 for topic "/agent_interface/move_joint"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 18 for topic "/tf_static"[0m ×2 + 2.14sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout" + 2.15sINFOfoxglove_bridgeAdvertising new channel 19 for topic "/rosout"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events" + 2.15sINFOfoxglove_bridgeAdvertising new channel 20 for topic "/parameter_events"[0m ×2 + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector" + 2.15sINFOfoxglove_bridgeAdvertising new channel 21 for topic "/agent_interface/move_end_effector"[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.20sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.20sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.20sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202[0m ×2 + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490133 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.490133 ms (missed cycles : 3).[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result" + 2.83sINFOfoxglove_bridgeAdvertising new channel 22 for topic "/moveit_pro_ui/do_teleoperate/result"[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback" + 2.83sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel" + 2.83sINFOfoxglove_bridgeAdvertising new channel 23 for topic "/moveit_pro_ui/do_teleoperate/feedback"[0m ×2 + 2.83sINFOfoxglove_bridgeAdvertising new channel 24 for topic "/moveit_pro_ui/do_teleoperate/cancel"[0m ×2 + 2.86sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world" + 2.86sINFOfoxglove_bridgeAdvertising new channel 25 for topic "/planning_scene_world"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene" + 2.89sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal" + 2.89sINFOfoxglove_bridgeAdvertising new channel 26 for topic "/planning_scene"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 27 for topic "/moveit_pro_ui/do_teleoperate/goal"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object" + 2.89sINFOfoxglove_bridgeAdvertising new channel 28 for topic "/collision_object"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object" + 2.89sINFOfoxglove_bridgeAdvertising new channel 29 for topic "/attached_collision_object"[0m ×2 + 2.89sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene" + 2.89sINFOfoxglove_bridgeAdvertising new channel 30 for topic "/monitored_planning_scene"[0m ×2 + 3.04sINFOspawner_joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... + 3.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.05sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.06sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.07sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.07sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.07sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 39 warnings · 114 info |
+ 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.00sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 0.34sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 0.34sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.79sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.80sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.36sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 1.38sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.38sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 2.62sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 2.63sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 3.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 3.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 3.75sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 4.44sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.44sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.44sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.44sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.44sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.44sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.45sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.45sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.48sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.48sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 4.49sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 4.49sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 4.49sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 4.77sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 4.77sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.08sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 5.18sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.21sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 5.21sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 6.00sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 6.00sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 6.20sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 51 warnings · 274 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9636] ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9627] ×2 + 0.43sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5).[0m ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state" + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory" + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9629] ×2 + 0.81sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.07sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.07sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.08sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states" + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states"[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us[0m ×2 + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9628] ×2 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780602189.71677256 seconds. ×3 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780602189.72705555 seconds ×3 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.61sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 3.74sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 6.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 6.11sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 6.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 6.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 51 warnings · 274 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9636] ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9627] ×2 + 0.43sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5).[0m ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state" + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory" + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9629] ×2 + 0.81sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.07sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.07sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.08sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states" + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states"[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us[0m ×2 + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9628] ×2 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780602189.71677256 seconds. ×3 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780602189.72705555 seconds ×3 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.61sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 3.74sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 6.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 6.11sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 6.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 6.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 51 warnings · 274 info |
+ 0.00sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 0.00sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 0.00sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 0.00sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.01sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 9636] ×2 + 0.02sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 0.02sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 0.05sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 0.06sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 0.06sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 0.06sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 0.06sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 0.06sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 0.06sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 0.06sINFOcontroller_managerSuccessfully switched controllers! ×5 + 0.06sWARNcontroller_managerOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us + 0.06sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 0.06sWARNros2_control_nodeOverrun might occur, Total time : 3809.591 us (Expected < 1666.667 us) --> Read time : 177.187 us, Update time : 3122.603 us (Switch time : 3087.901 us (Switch chained mode time : 0.420 us, perform mode change time : 3.490 us, Activation time : 3076.550 us, Deactivation time : 0.331 us)), Write time : 509.801 us[0m ×2 + 0.07sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 0.07sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state" + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command" + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 52 for topic "/joint_velocity_controller/controller_state"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 53 for topic "/joint_velocity_controller/command"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 54 for topic "/robotiq_gripper_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 55 for topic "/joint_velocity_controller/transition_event"[0m ×2 + 0.35sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.35sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.35sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.35sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.36sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 0.36sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 0.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 9627] ×2 + 0.43sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.43sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.43sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.43sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.43sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.43sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.43sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.43sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.43sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.43sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.44sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.44sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.44sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.44sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.44sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.44sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.45sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.45sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.913146 ms (missed cycles : 5).[0m ×2 + 0.72sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event" + 0.74sINFOfoxglove_bridgeAdvertising new channel 56 for topic "/joint_trajectory_controller/transition_event"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input" + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state" + 0.74sINFOfoxglove_bridgeAdvertising new channel 57 for topic "/joint_trajectory_controller/speed_scaling_input"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 58 for topic "/joint_trajectory_controller/controller_state"[0m ×2 + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory" + 0.74sINFOfoxglove_bridgeAdvertising new channel 59 for topic "/joint_trajectory_controller/joint_trajectory"[0m ×2 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.79sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 9629] ×2 + 0.81sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 1.06sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 1.06sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 1.06sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 1.06sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 1.07sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.07sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.08sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 1.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 1.08sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 1.08sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 1.08sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 1.08sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 1.08sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 1.08sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 1.08sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 1.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 1.09sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 1.10sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 1.10sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event" + 1.28sINFOfoxglove_bridgeAdvertising new channel 60 for topic "/joint_state_broadcaster/transition_event"[0m ×2 + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states" + 1.28sINFOfoxglove_bridgeAdvertising new channel 61 for topic "/dynamic_joint_states"[0m ×2 + 1.35sWARNcontroller_managerOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us + 1.35sWARNros2_control_nodeOverrun might occur, Total time : 1803.586 us (Expected < 1666.667 us) --> Read time : 801.464 us, Update time : 153.706 us, Write time : 848.416 us[0m ×2 + 1.42sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 9628] ×2 + 1.48sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780602189.71677256 seconds. ×3 + 1.49sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780602189.72705555 seconds ×3 + 1.49sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.49sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 + 1.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__0fc9j7t --params-file /tmp/launch_params_tu87zsh_ --params-file /__w/moveit_pro_example_ws/moveit_pro_example_ws/install/lab_sim/share/lab_sim/config/control/picknik_ur.ros2_control.yaml --params-file /tmp/launch_params_umy2exym --params-file /tmp/launch_params_9ng9pf23 [0m ×2 + 1.61sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.61sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.61sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.62sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.62sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 1.64sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 1.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 1.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 1.82sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 1.82sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 1.82sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 1.83sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 1.98sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 2.04sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 2.05sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.05sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 2.36sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 2.71sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 2.71sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 3.73sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 3.74sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 3.74sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 4.99sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 5.38sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 5.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 6.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 6.11sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 6.11sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 6.78sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 6.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.85sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 6.85sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 6.85sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 6.85sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 6.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 42 warnings · 138 info |
+ 0.00sINFOros2_control_node[2026-06-04 19:43:09.884] [info] Controller state will be published at 10 Hz. ×2 + 0.00sINFOros2_control_node[2026-06-04 19:43:09.885] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3). + 0.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256903 ms (missed cycles : 3).[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state" + 0.18sINFOfoxglove_bridgeAdvertising new channel 62 for topic "/velocity_force_controller/controller_state"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command" + 0.18sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 63 for topic "/velocity_force_controller/command"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 64 for topic "/velocity_force_controller/transition_event"[0m ×2 + 0.18sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event" + 0.18sINFOfoxglove_bridgeAdvertising new channel 65 for topic "/agent_event"[0m ×2 + 0.34sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 9635] ×2 + 0.40sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780602190.28314376 seconds. ×3 + 0.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.72sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event) + 0.72sINFOfoxglove_bridgeRemoving channel 65 for topic "/agent_event" (moveit_studio_agent_msgs/msg/Event)[0m ×2 + 1.06sWARNcontroller_managerOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us + 1.06sWARNros2_control_nodeOverrun might occur, Total time : 5340.017 us (Expected < 1666.667 us) --> Read time : 266.291 us, Update time : 4558.664 us, Write time : 515.062 us[0m ×2 + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 1.51sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 1.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.52sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 2.09sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 2.09sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 2.10sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 3.34sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 3.35sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 3.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 4.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 4.46sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 4.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 4.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 5.13sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 5.16sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.16sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.16sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.16sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.16sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.16sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.16sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.16sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.17sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.17sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 5.21sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 5.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 5.21sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 5.22sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 5.49sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 5.49sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 5.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 5.78sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 5.80sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 5.80sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.80sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.80sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.80sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.80sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.80sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.90sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 5.90sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.93sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 5.93sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 6.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 6.72sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 6.72sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 6.92sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution_jtc.xml | 0.1s | 42 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 + 6.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 45 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 + 6.83sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 6.92sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 6.93sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 6.94sINFOros2_control_node[2026-06-04 19:43:18.325] [info] Received new action goal ×2 + 6.94sINFOros2_control_node[2026-06-04 19:43:18.325] [info] Accepted new action goal ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953815 ms (missed cycles : 3). + 7.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953815 ms (missed cycles : 3).[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 | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | visualize_tf.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.098437 ms (missed cycles : 2).[0m ×2 + 0.00sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780602191.39337230 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.58sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780602191.97062063 seconds. ×3 + 0.59sWARNcontroller_managerOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us + 0.59sWARNros2_control_nodeOverrun might occur, Total time : 1710.433 us (Expected < 1666.667 us) --> Read time : 598.526 us, Update time : 91.754 us, Write time : 1020.153 us[0m ×2 + 0.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905948 ms (missed cycles : 2).[0m ×2 + 1.65sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780602193.04078841 seconds ×3 + 1.84sWARNcontroller_managerOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us + 1.84sWARNros2_control_nodeOverrun might occur, Total time : 2123.411 us (Expected < 1666.667 us) --> Read time : 262.512 us, Update time : 1294.295 us, Write time : 566.604 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074535 ms (missed cycles : 4).[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780602193.59632611 seconds. ×3 + 2.23sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780602193.61779785 seconds ×3 + 2.81sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780602194.19592547 seconds. ×3 + 2.96sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780602194.34779334 seconds ×3 + 2.96sWARNcontroller_managerOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us + 2.96sWARNros2_control_nodeOverrun might occur, Total time : 2011.086 us (Expected < 1666.667 us) --> Read time : 1524.265 us, Update time : 88.184 us, Write time : 398.637 us[0m ×2 + 3.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752448 ms (missed cycles : 2).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780602195.01962018 seconds. ×3 + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.65sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.66sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.66sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.66sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.67sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.67sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.70sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ] + 3.70sWARNcontroller_managerOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us + 3.70sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller robotiq_gripper_controller ][0m ×2 + 3.71sWARNros2_control_nodeOverrun might occur, Total time : 4179.888 us (Expected < 1666.667 us) --> Read time : 147.017 us, Update time : 3472.837 us (Switch time : 3421.775 us (Switch chained mode time : 0.440 us, perform mode change time : 2.650 us, Activation time : 3396.224 us, Deactivation time : 16.381 us)), Write time : 560.034 us[0m ×2 + 3.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780602195.09995317 seconds ×3 + 3.99sWARNcontroller_managerOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us + 3.99sWARNros2_control_nodeOverrun might occur, Total time : 1991.124 us (Expected < 1666.667 us) --> Read time : 1409.419 us, Update time : 94.374 us, Write time : 487.331 us[0m ×2 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.750250 ms (missed cycles : 7).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780602195.66924191 seconds. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.29sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (2.3161e-05 s). ×2 + 4.40sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Received new action goal ×2 + 4.43sINFOros2_control_node[2026-06-04 19:43:15.819] [info] Accepted new action goal ×2 + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.358081 ms (missed cycles : 5).[0m ×2 + 5.22sWARNcontroller_managerOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us + 5.22sWARNros2_control_nodeOverrun might occur, Total time : 2013.454 us (Expected < 1666.667 us) --> Read time : 284.102 us, Update time : 1227.001 us, Write time : 502.351 us[0m ×2 + 5.42sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.70% of iterations over budget over 0:10.005 of wall time (22/3165). Below 1% is expected on a non-realtime system.[0m ×2 + 6.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3). + 6.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461911 ms (missed cycles : 3).[0m ×2 + 6.66sWARNcontroller_managerOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us + 6.67sWARNros2_control_nodeOverrun might occur, Total time : 1748.324 us (Expected < 1666.667 us) --> Read time : 169.047 us, Update time : 581.745 us, Write time : 997.532 us[0m ×2 | ||||