118
Total objective tests
35
Objectives passed
0
Objectives failed
83
Objectives skipped
9.7s
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 | 42.1s | 264 warnings · 259 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 3.22sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433498.03302121 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×6 + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×12 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×4 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×21 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3).[0m ×2 + 6.84sWARNcontroller_managerOverrun might occur, Total time : 1668.506 us (Expected < 1666.667 us) --> Read time : 716.895 us, Update time : 65.502 us, Write time : 886.109 us + 6.84sWARNros2_control_nodeOverrun might occur, Total time : 1668.506 us (Expected < 1666.667 us) --> Read time : 716.895 us, Update time : 65.502 us, Write time : 886.109 us[0m ×2 + 6.85sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.86sINFOros2_control_node[2026-06-02 20:51:41.128] [info] Received new action goal ×2 + 6.86sINFOros2_control_node[2026-06-02 20:51:41.128] [info] Accepted new action goal ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147470 ms (missed cycles : 3). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147470 ms (missed cycles : 3).[0m ×2 + 8.32sWARNcontroller_managerOverrun might occur, Total time : 5573.419 us (Expected < 1666.667 us) --> Read time : 275.546 us, Update time : 4735.551 us, Write time : 562.322 us + 8.32sWARNros2_control_nodeOverrun might occur, Total time : 5573.419 us (Expected < 1666.667 us) --> Read time : 275.546 us, Update time : 4735.551 us, Write time : 562.322 us[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939386 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939386 ms (missed cycles : 3).[0m ×2 + 9.36sWARNcontroller_managerOverrun might occur, Total time : 1909.331 us (Expected < 1666.667 us) --> Read time : 258.575 us, Update time : 75.572 us, Write time : 1575.184 us + 9.36sWARNros2_control_nodeOverrun might occur, Total time : 1909.331 us (Expected < 1666.667 us) --> Read time : 258.575 us, Update time : 75.572 us, Write time : 1575.184 us[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682755 ms (missed cycles : 5). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.682755 ms (missed cycles : 5).[0m ×2 + 10.01sINFOobjective_server_nodePlanning for 2 path waypoints. ×12 + 10.03sINFOros2_control_node[2026-06-02 20:51:44.297] [info] Received new action goal ×2 + 10.03sINFOros2_control_node[2026-06-02 20:51:44.297] [info] Accepted new action goal ×2 + 10.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.519594 ms (missed cycles : 6). + 10.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.519594 ms (missed cycles : 6).[0m ×2 + 10.74sWARNcontroller_managerOverrun might occur, Total time : 3078.796 us (Expected < 1666.667 us) --> Read time : 1523.982 us, Update time : 92.922 us, Write time : 1461.892 us + 10.74sWARNros2_control_nodeOverrun might occur, Total time : 3078.796 us (Expected < 1666.667 us) --> Read time : 1523.982 us, Update time : 92.922 us, Write time : 1461.892 us[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780047 ms (missed cycles : 5). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.780047 ms (missed cycles : 5).[0m ×2 + 11.87sWARNcontroller_managerOverrun might occur, Total time : 4947.536 us (Expected < 1666.667 us) --> Read time : 200.405 us, Update time : 4129.048 us, Write time : 618.083 us + 11.87sWARNros2_control_nodeOverrun might occur, Total time : 4947.536 us (Expected < 1666.667 us) --> Read time : 200.405 us, Update time : 4129.048 us, Write time : 618.083 us[0m ×2 + 12.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244968 ms (missed cycles : 2). + 12.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244968 ms (missed cycles : 2).[0m ×2 + 13.01sWARNcontroller_managerOverrun might occur, Total time : 1927.722 us (Expected < 1666.667 us) --> Read time : 245.566 us, Update time : 523.511 us, Write time : 1158.645 us + 13.01sWARNros2_control_nodeOverrun might occur, Total time : 1927.722 us (Expected < 1666.667 us) --> Read time : 245.566 us, Update time : 523.511 us, Write time : 1158.645 us[0m ×2 + 13.02sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 13.02sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.05sINFOros2_control_node[2026-06-02 20:51:47.322] [info] Received new action goal ×2 + 13.05sINFOros2_control_node[2026-06-02 20:51:47.322] [info] Accepted new action goal ×2 + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778950 ms (missed cycles : 5). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.778950 ms (missed cycles : 5).[0m ×2 + 14.44sWARNcontroller_managerOverrun might occur, Total time : 5710.492 us (Expected < 1666.667 us) --> Read time : 340.617 us, Update time : 4774.163 us, Write time : 595.712 us + 14.45sWARNros2_control_nodeOverrun might occur, Total time : 5710.492 us (Expected < 1666.667 us) --> Read time : 340.617 us, Update time : 4774.163 us, Write time : 595.712 us[0m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750625 ms (missed cycles : 5). + 14.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.750625 ms (missed cycles : 5).[0m ×2 + 15.45sWARNcontroller_managerOverrun might occur, Total time : 2096.245 us (Expected < 1666.667 us) --> Read time : 235.055 us, Update time : 1275.758 us, Write time : 585.432 us + 15.45sWARNros2_control_nodeOverrun might occur, Total time : 2096.245 us (Expected < 1666.667 us) --> Read time : 235.055 us, Update time : 1275.758 us, Write time : 585.432 us[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860016 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860016 ms (missed cycles : 2).[0m ×2 + 16.11sINFOobjective_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 + 16.11sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] ×2 + 16.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.12sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×4 + 16.12sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.12sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 16.12sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] ×2 + 16.12sINFOcontroller_managerSuccessfully switched controllers! ×4 + 16.12sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 16.12sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×4 + 16.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 16.90sWARNcontroller_managerOverrun might occur, Total time : 2343.321 us (Expected < 1666.667 us) --> Read time : 204.905 us, Update time : 1684.636 us, Write time : 453.780 us + 16.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577421 ms (missed cycles : 2). + 16.90sWARNros2_control_nodeOverrun might occur, Total time : 2343.321 us (Expected < 1666.667 us) --> Read time : 204.905 us, Update time : 1684.636 us, Write time : 453.780 us[0m ×2 + 16.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.577421 ms (missed cycles : 2).[0m ×2 + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654990 ms (missed cycles : 6). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.654990 ms (missed cycles : 6).[0m ×2 + 18.00sWARNcontroller_managerOverrun might occur, Total time : 3920.024 us (Expected < 1666.667 us) --> Read time : 208.144 us, Update time : 3174.899 us, Write time : 536.981 us + 18.00sWARNros2_control_nodeOverrun might occur, Total time : 3920.024 us (Expected < 1666.667 us) --> Read time : 208.144 us, Update time : 3174.899 us, Write time : 536.981 us[0m ×2 + 19.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849897 ms (missed cycles : 5). + 19.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.849897 ms (missed cycles : 5).[0m ×2 + 19.17sWARNcontroller_managerOverrun might occur, Total time : 5810.044 us (Expected < 1666.667 us) --> Read time : 210.425 us, Update time : 5071.938 us, Write time : 527.681 us + 19.17sWARNros2_control_nodeOverrun might occur, Total time : 5810.044 us (Expected < 1666.667 us) --> Read time : 210.425 us, Update time : 5071.938 us, Write time : 527.681 us[0m ×2 + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933297 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933297 ms (missed cycles : 2).[0m ×2 + 20.17sWARNcontroller_managerOverrun might occur, Total time : 1804.749 us (Expected < 1666.667 us) --> Read time : 716.815 us, Update time : 215.875 us, Write time : 872.059 us + 20.17sWARNros2_control_nodeOverrun might occur, Total time : 1804.749 us (Expected < 1666.667 us) --> Read time : 716.815 us, Update time : 215.875 us, Write time : 872.059 us[0m ×2 + 21.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443428 ms (missed cycles : 3). + 21.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443428 ms (missed cycles : 3).[0m ×2 + 21.21sWARNcontroller_managerOverrun might occur, Total time : 4139.399 us (Expected < 1666.667 us) --> Read time : 204.394 us, Update time : 3425.394 us, Write time : 509.611 us + 21.21sWARNros2_control_nodeOverrun might occur, Total time : 4139.399 us (Expected < 1666.667 us) --> Read time : 204.394 us, Update time : 3425.394 us, Write time : 509.611 us[0m ×2 + 22.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829154 ms (missed cycles : 5). + 22.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.829154 ms (missed cycles : 5).[0m ×2 + 22.28sWARNcontroller_managerOverrun might occur, Total time : 1707.366 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1073.703 us, Write time : 335.577 us + 22.28sWARNros2_control_nodeOverrun might occur, Total time : 1707.366 us (Expected < 1666.667 us) --> Read time : 298.086 us, Update time : 1073.703 us, Write time : 335.577 us[0m ×2 + 22.85sINFOobjective_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 + 22.86sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.86sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 22.86sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 22.86sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 22.86sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 22.86sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 22.86sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 22.86sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873873 ms (missed cycles : 2). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.873873 ms (missed cycles : 2).[0m ×2 + 23.78sWARNcontroller_managerOverrun might occur, Total time : 2407.892 us (Expected < 1666.667 us) --> Read time : 204.464 us, Update time : 133.533 us, Write time : 2069.895 us + 23.79sWARNros2_control_nodeOverrun might occur, Total time : 2407.892 us (Expected < 1666.667 us) --> Read time : 204.464 us, Update time : 133.533 us, Write time : 2069.895 us[0m ×2 + 23.84sINFOros2_control_node[2026-06-02 20:51:58.106] [info] Received new action goal ×2 + 23.84sINFOros2_control_node[2026-06-02 20:51:58.106] [info] Accepted new action goal ×2 + 24.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567334 ms (missed cycles : 6). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.567334 ms (missed cycles : 6).[0m ×2 + 24.79sWARNcontroller_managerOverrun might occur, Total time : 5257.453 us (Expected < 1666.667 us) --> Read time : 149.033 us, Update time : 58.181 us, Write time : 5050.239 us + 24.79sWARNros2_control_nodeOverrun might occur, Total time : 5257.453 us (Expected < 1666.667 us) --> Read time : 149.033 us, Update time : 58.181 us, Write time : 5050.239 us[0m ×2 + 25.01sINFOobjective_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 + 25.02sINFOobjective_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 + 25.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087366 ms (missed cycles : 4). + 25.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087366 ms (missed cycles : 4).[0m ×2 + 25.31sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 25.32sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 25.35sINFOros2_control_node[2026-06-02 20:51:59.619] [info] Received new action goal ×2 + 25.35sINFOros2_control_node[2026-06-02 20:51:59.619] [info] Accepted new action goal ×2 + 25.39sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.31% of iterations over budget over 2:10.004 of wall time (525/40080). Consistently above 1% means the model timestep should be raised.[0m ×2 + 25.84sWARNcontroller_managerOverrun might occur, Total time : 4480.816 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 71.722 us, Write time : 4206.980 us + 25.84sWARNros2_control_nodeOverrun might occur, Total time : 4480.816 us (Expected < 1666.667 us) --> Read time : 202.114 us, Update time : 71.722 us, Write time : 4206.980 us[0m ×2 + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741722 ms (missed cycles : 2). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741722 ms (missed cycles : 2).[0m ×2 + 26.87sWARNcontroller_managerOverrun might occur, Total time : 3511.906 us (Expected < 1666.667 us) --> Read time : 178.314 us, Update time : 2661.037 us, Write time : 672.555 us + 26.87sWARNros2_control_nodeOverrun might occur, Total time : 3511.906 us (Expected < 1666.667 us) --> Read time : 178.314 us, Update time : 2661.037 us, Write time : 672.555 us[0m ×2 + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314967 ms (missed cycles : 3). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.314967 ms (missed cycles : 3).[0m ×2 + 27.48sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 27.48sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 27.50sINFOros2_control_node[2026-06-02 20:52:01.767] [info] Received new action goal ×2 + 27.50sINFOros2_control_node[2026-06-02 20:52:01.767] [info] Accepted new action goal ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689562 ms (missed cycles : 2). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689562 ms (missed cycles : 2).[0m ×2 + 28.30sWARNcontroller_managerOverrun might occur, Total time : 1990.323 us (Expected < 1666.667 us) --> Read time : 230.835 us, Update time : 93.332 us, Write time : 1666.156 us + 28.31sWARNros2_control_nodeOverrun might occur, Total time : 1990.323 us (Expected < 1666.667 us) --> Read time : 230.835 us, Update time : 93.332 us, Write time : 1666.156 us[0m ×2 + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572920 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.572920 ms (missed cycles : 3).[0m ×2 + 29.74sWARNcontroller_managerOverrun might occur, Total time : 1750.198 us (Expected < 1666.667 us) --> Read time : 252.096 us, Update time : 79.151 us, Write time : 1418.951 us + 29.74sWARNros2_control_nodeOverrun might occur, Total time : 1750.198 us (Expected < 1666.667 us) --> Read time : 252.096 us, Update time : 79.151 us, Write time : 1418.951 us[0m ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677730 ms (missed cycles : 2). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677730 ms (missed cycles : 2).[0m ×2 + 30.58sINFOros2_control_node[2026-06-02 20:52:04.847] [info] Received new action goal ×2 + 30.58sINFOros2_control_node[2026-06-02 20:52:04.847] [info] Accepted new action goal ×2 + 30.83sWARNcontroller_managerOverrun might occur, Total time : 1714.946 us (Expected < 1666.667 us) --> Read time : 178.463 us, Update time : 75.842 us, Write time : 1460.641 us + 30.83sWARNros2_control_nodeOverrun might occur, Total time : 1714.946 us (Expected < 1666.667 us) --> Read time : 178.463 us, Update time : 75.842 us, Write time : 1460.641 us[0m ×2 + 31.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.220645 ms (missed cycles : 7). + 31.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.220645 ms (missed cycles : 7).[0m ×2 + 32.06sWARNcontroller_managerOverrun might occur, Total time : 2641.507 us (Expected < 1666.667 us) --> Read time : 300.066 us, Update time : 324.947 us, Write time : 2016.494 us + 32.06sWARNros2_control_nodeOverrun might occur, Total time : 2641.507 us (Expected < 1666.667 us) --> Read time : 300.066 us, Update time : 324.947 us, Write time : 2016.494 us[0m ×2 + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789794 ms (missed cycles : 3). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789794 ms (missed cycles : 3).[0m ×2 + 33.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 33.17sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 33.20sINFOros2_control_node[2026-06-02 20:52:07.471] [info] Received new action goal ×2 + 33.20sINFOros2_control_node[2026-06-02 20:52:07.471] [info] Accepted new action goal ×2 + 33.27sWARNcontroller_managerOverrun might occur, Total time : 1806.978 us (Expected < 1666.667 us) --> Read time : 754.036 us, Update time : 74.941 us, Write time : 978.001 us + 33.28sWARNros2_control_nodeOverrun might occur, Total time : 1806.978 us (Expected < 1666.667 us) --> Read time : 754.036 us, Update time : 74.941 us, Write time : 978.001 us[0m ×2 + 33.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167262 ms (missed cycles : 4). + 33.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.167262 ms (missed cycles : 4).[0m ×2 + 34.32sWARNcontroller_managerOverrun might occur, Total time : 6450.238 us (Expected < 1666.667 us) --> Read time : 275.426 us, Update time : 140.553 us, Write time : 6034.259 us + 34.32sWARNros2_control_nodeOverrun might occur, Total time : 6450.238 us (Expected < 1666.667 us) --> Read time : 275.426 us, Update time : 140.553 us, Write time : 6034.259 us[0m ×2 + 34.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.697866 ms (missed cycles : 6). + 34.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.697866 ms (missed cycles : 6).[0m ×2 + 35.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198294 ms (missed cycles : 4). + 35.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198294 ms (missed cycles : 4).[0m ×2 + 35.79sWARNcontroller_managerOverrun might occur, Total time : 9208.697 us (Expected < 1666.667 us) --> Read time : 277.246 us, Update time : 8349.689 us, Write time : 581.762 us + 35.79sWARNros2_control_nodeOverrun might occur, Total time : 9208.697 us (Expected < 1666.667 us) --> Read time : 277.246 us, Update time : 8349.689 us, Write time : 581.762 us[0m ×2 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979063 ms (missed cycles : 3). + 36.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979063 ms (missed cycles : 3).[0m ×2 + 36.79sWARNcontroller_managerOverrun might occur, Total time : 3848.112 us (Expected < 1666.667 us) --> Read time : 188.664 us, Update time : 125.183 us, Write time : 3534.265 us + 36.79sWARNros2_control_nodeOverrun might occur, Total time : 3848.112 us (Expected < 1666.667 us) --> Read time : 188.664 us, Update time : 125.183 us, Write time : 3534.265 us[0m ×2 + 37.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757663 ms (missed cycles : 2). + 37.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.757663 ms (missed cycles : 2).[0m ×2 + 37.97sWARNcontroller_managerOverrun might occur, Total time : 2497.744 us (Expected < 1666.667 us) --> Read time : 1859.580 us, Update time : 119.033 us, Write time : 519.131 us + 37.98sWARNros2_control_nodeOverrun might occur, Total time : 2497.744 us (Expected < 1666.667 us) --> Read time : 1859.580 us, Update time : 119.033 us, Write time : 519.131 us[0m ×2 + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074196 ms (missed cycles : 2). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074196 ms (missed cycles : 2).[0m ×2 + 39.19sWARNcontroller_managerOverrun might occur, Total time : 2234.348 us (Expected < 1666.667 us) --> Read time : 1691.167 us, Update time : 122.392 us, Write time : 420.789 us + 39.19sWARNros2_control_nodeOverrun might occur, Total time : 2234.348 us (Expected < 1666.667 us) --> Read time : 1691.167 us, Update time : 122.392 us, Write time : 420.789 us[0m ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169140 ms (missed cycles : 4). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.169140 ms (missed cycles : 4).[0m ×2 + 40.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780578 ms (missed cycles : 2). + 40.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.780578 ms (missed cycles : 2).[0m ×2 + 40.65sWARNcontroller_managerOverrun might occur, Total time : 2109.455 us (Expected < 1666.667 us) --> Read time : 370.268 us, Update time : 801.747 us, Write time : 937.440 us + 40.65sWARNros2_control_nodeOverrun might occur, Total time : 2109.455 us (Expected < 1666.667 us) --> Read time : 370.268 us, Update time : 801.747 us, Write time : 937.440 us[0m ×2 + 41.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071834 ms (missed cycles : 2). + 41.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071834 ms (missed cycles : 2).[0m ×2 + 41.80sWARNcontroller_managerOverrun might occur, Total time : 10712.779 us (Expected < 1666.667 us) --> Read time : 129.823 us, Update time : 40.471 us, Write time : 10542.485 us + 41.81sWARNros2_control_nodeOverrun might occur, Total time : 10712.779 us (Expected < 1666.667 us) --> Read time : 129.823 us, Update time : 40.471 us, Write time : 10542.485 us[0m ×2 + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221788 ms (missed cycles : 4). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221788 ms (missed cycles : 4).[0m ×2 + 42.83sWARNcontroller_managerOverrun might occur, Total time : 1863.080 us (Expected < 1666.667 us) --> Read time : 200.275 us, Update time : 770.646 us, Write time : 892.159 us + 42.84sWARNros2_control_nodeOverrun might occur, Total time : 1863.080 us (Expected < 1666.667 us) --> Read time : 200.275 us, Update time : 770.646 us, Write time : 892.159 us[0m ×2 + 43.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095609 ms (missed cycles : 3). + 43.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095609 ms (missed cycles : 3).[0m ×2 + 44.00sWARNcontroller_managerOverrun might occur, Total time : 2014.653 us (Expected < 1666.667 us) --> Read time : 233.825 us, Update time : 1380.960 us, Write time : 399.868 us + 44.00sWARNros2_control_nodeOverrun might occur, Total time : 2014.653 us (Expected < 1666.667 us) --> Read time : 233.825 us, Update time : 1380.960 us, Write time : 399.868 us[0m ×2 + 44.07sINFOros2_control_node[2026-06-02 20:52:18.337] [info] Received new action goal ×2 + 44.07sINFOros2_control_node[2026-06-02 20:52:18.337] [info] Accepted new action goal ×2 + 44.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564687 ms (missed cycles : 3). + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564687 ms (missed cycles : 3).[0m ×2 + 45.22sWARNcontroller_managerOverrun might occur, Total time : 2077.465 us (Expected < 1666.667 us) --> Read time : 169.244 us, Update time : 1436.351 us, Write time : 471.870 us + 45.22sWARNros2_control_nodeOverrun might occur, Total time : 2077.465 us (Expected < 1666.667 us) --> Read time : 169.244 us, Update time : 1436.351 us, Write time : 471.870 us[0m ×2 + 45.24sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780433539.51279116 seconds ×3 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418936 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418936 ms (missed cycles : 2).[0m ×2 + 45.97sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780433540.23985696 seconds. ×3 + 46.62sWARNcontroller_managerOverrun might occur, Total time : 1766.768 us (Expected < 1666.667 us) --> Read time : 292.447 us, Update time : 69.671 us, Write time : 1404.650 us + 46.62sWARNros2_control_nodeOverrun might occur, Total time : 1766.768 us (Expected < 1666.667 us) --> Read time : 292.447 us, Update time : 69.671 us, Write time : 1404.650 us[0m ×2 + 46.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858705 ms (missed cycles : 2). + 46.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858705 ms (missed cycles : 2).[0m ×2 + 47.18sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 47.19sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 47.20sINFOros2_control_node[2026-06-02 20:52:21.475] [info] Received new action goal ×2 + 47.20sINFOros2_control_node[2026-06-02 20:52:21.475] [info] Accepted new action goal ×2 + 47.82sWARNcontroller_managerOverrun might occur, Total time : 1860.990 us (Expected < 1666.667 us) --> Read time : 258.555 us, Update time : 78.142 us, Write time : 1524.293 us + 47.83sWARNros2_control_nodeOverrun might occur, Total time : 1860.990 us (Expected < 1666.667 us) --> Read time : 258.555 us, Update time : 78.142 us, Write time : 1524.293 us[0m ×2 + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222427 ms (missed cycles : 3). + 47.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222427 ms (missed cycles : 3).[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 | 6285 errors · 255 warnings · 6445 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889539 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889539 ms (missed cycles : 5).[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 5913.958 us (Expected < 1666.667 us) --> Read time : 197.655 us, Update time : 5234.692 us, Write time : 481.611 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5913.958 us (Expected < 1666.667 us) --> Read time : 197.655 us, Update time : 5234.692 us, Write time : 481.611 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113745 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113745 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 10892.322 us (Expected < 1666.667 us) --> Read time : 225.194 us, Update time : 10101.156 us, Write time : 565.972 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 10892.322 us (Expected < 1666.667 us) --> Read time : 225.194 us, Update time : 10101.156 us, Write time : 565.972 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847394 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847394 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 2236.968 us (Expected < 1666.667 us) --> Read time : 206.444 us, Update time : 1088.714 us, Write time : 941.810 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 2236.968 us (Expected < 1666.667 us) --> Read time : 206.444 us, Update time : 1088.714 us, Write time : 941.810 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780433551.18271756 seconds ×3 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504307 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504307 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433551.87649155 seconds. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×18 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2077.975 us (Expected < 1666.667 us) --> Read time : 225.425 us, Update time : 844.528 us, Write time : 1008.022 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2077.975 us (Expected < 1666.667 us) --> Read time : 225.425 us, Update time : 844.528 us, Write time : 1008.022 us[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.63sINFOros2_control_node[2026-06-02 20:52:32.034] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-06-02 20:52:32.034] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758791 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758791 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_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 + 4.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2522.334 us (Expected < 1666.667 us) --> Read time : 292.546 us, Update time : 1615.465 us, Write time : 614.323 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2522.334 us (Expected < 1666.667 us) --> Read time : 292.546 us, Update time : 1615.465 us, Write time : 614.323 us[0m ×2 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 4.96sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.96sWARNcontroller_managerOverrun might occur, Total time : 1683.576 us (Expected < 1666.667 us) --> Read time : 459.760 us, Update time : 628.393 us (Switch time : 537.841 us (Switch chained mode time : 0.790 us, perform mode change time : 8.070 us, Activation time : 447.170 us, Deactivation time : 67.771 us)), Write time : 595.423 us + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 1683.576 us (Expected < 1666.667 us) --> Read time : 459.760 us, Update time : 628.393 us (Switch time : 537.841 us (Switch chained mode time : 0.790 us, perform mode change time : 8.070 us, Activation time : 447.170 us, Deactivation time : 67.771 us)), Write time : 595.423 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612480 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612480 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 2070.115 us (Expected < 1666.667 us) --> Read time : 869.739 us, Update time : 277.526 us, Write time : 922.850 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 2070.115 us (Expected < 1666.667 us) --> Read time : 869.739 us, Update time : 277.526 us, Write time : 922.850 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001271 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001271 ms (missed cycles : 2).[0m ×2 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698274 ms (missed cycles : 2). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698274 ms (missed cycles : 2).[0m ×2 + 7.24sWARNcontroller_managerOverrun might occur, Total time : 5450.427 us (Expected < 1666.667 us) --> Read time : 3675.699 us, Update time : 91.462 us, Write time : 1683.266 us + 7.24sWARNros2_control_nodeOverrun might occur, Total time : 5450.427 us (Expected < 1666.667 us) --> Read time : 3675.699 us, Update time : 91.462 us, Write time : 1683.266 us[0m ×2 + 7.76sINFOjoint_trajectory_controllerReceived new action goal ×2093 + 7.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139008749299 + 7.76sINFOros2_control_nodeReceived new action goal[0m ×4186 + 7.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000139008749299[0m ×2 + 7.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000808409946396 + 7.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000808409946396[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000716669639327 + 7.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000716669639327[0m ×2 + 7.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000462359033827 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000462359033827[0m ×2 + 7.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000224568671262 + 7.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000224568671262[0m ×2 + 7.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074735877001 + 7.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000074735877001[0m ×2 + 7.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000327152242003 + 7.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000327152242003[0m ×2 + 7.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170606326407 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000170606326407[0m ×2 + 7.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161489543880 + 7.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161489543880[0m ×2 + 7.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097567474928 + 7.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097567474928[0m ×2 + 7.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161765031000 + 7.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161765031000[0m ×2 + 7.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161947646825 + 7.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161947646825[0m ×2 + 7.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087004526429 + 7.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000087004526429[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037564892765 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000037564892765[0m ×2 + 7.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182838593376 + 7.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000182838593376[0m ×2 + 7.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121352358978 + 7.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000121352358978[0m ×2 + 7.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002229833971 + 7.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000002229833971[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118851513305 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118851513305[0m ×2 + 7.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183657214524 + 7.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000183657214524[0m ×2 + 7.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077682231671 + 7.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077682231671[0m ×2 + 7.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000216553912429 + 7.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000216553912429[0m ×2 + 7.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000305000919483 + 7.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000305000919483[0m ×2 + 8.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027931116537 + 8.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027931116537[0m ×2 + 8.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000431801037942 + 8.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000431801037942[0m ×2 + 8.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166363290039 + 8.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000166363290039[0m ×2 + 8.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172857348874 + 8.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000172857348874[0m ×2 + 8.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085169451652 + 8.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085169451652[0m ×2 + 8.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000290278920940 + 8.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000290278920940[0m ×2 + 8.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232625734235 + 8.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000232625734235[0m ×2 + 8.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064265953272 + 8.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000064265953272[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022655028487 + 8.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022655028487[0m ×2 + 8.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002341981700 + 8.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002341981700[0m ×2 + 8.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260631302540 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000260631302540[0m ×2 + 8.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118492549907 + 8.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118492549907[0m ×2 + 8.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225627892896 + 8.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000225627892896[0m ×2 + 8.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443696596576 + 8.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000443696596576[0m ×2 + 8.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530752102757 + 8.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000530752102757[0m ×2 + 8.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241393417379 + 8.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000241393417379[0m ×2 + 8.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097007229654 + 8.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000097007229654[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000851437103978 + 8.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000851437103978[0m ×2 + 8.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455203338491 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000455203338491[0m ×2 + 8.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096864790112 + 8.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000096864790112[0m ×2 + 8.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116758387186 + 8.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000116758387186[0m ×2 + 8.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149681471478 + 8.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149681471478[0m ×2 + 8.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210967245568 + 8.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210967245568[0m ×2 + 8.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179847781948 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877023 ms (missed cycles : 2). + 8.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179847781948[0m ×2 + 8.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877023 ms (missed cycles : 2).[0m ×2 + 8.27sWARNcontroller_managerOverrun might occur, Total time : 5461.308 us (Expected < 1666.667 us) --> Read time : 4884.075 us, Update time : 106.373 us, Write time : 470.860 us + 8.27sWARNros2_control_nodeOverrun might occur, Total time : 5461.308 us (Expected < 1666.667 us) --> Read time : 4884.075 us, Update time : 106.373 us, Write time : 470.860 us[0m ×2 + 8.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144953573806 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000144953573806[0m ×2 + 8.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063480356514 + 8.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000063480356514[0m ×2 + 8.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122902964929 + 8.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000122902964929[0m ×2 + 8.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202542013582 + 8.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000202542013582[0m ×2 + 8.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113605566012 ×2 + 8.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113605566012[0m ×4 + 8.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000811712698160 + 8.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000811712698160[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502523848411 + 8.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000502523848411[0m ×2 + 8.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286031039793 + 8.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000286031039793[0m ×2 + 8.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142142350439 + 8.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000142142350439[0m ×2 + 8.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101825463887 + 8.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101825463887[0m ×2 + 8.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078441935212 + 8.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078441935212[0m ×2 + 8.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509638159335 + 8.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000509638159335[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000290599553846 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000290599553846[0m ×2 + 8.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144409239414 + 8.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144409239414[0m ×2 + 8.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264489443922 + 8.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000264489443922[0m ×2 + 8.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091167168824 + 8.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091167168824[0m ×2 + 8.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091157841903 + 8.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000091157841903[0m ×2 + 8.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304246808417 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000304246808417[0m ×2 + 8.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218194523301 + 8.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000218194523301[0m ×2 + 8.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000763827856857 + 8.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000763827856857[0m ×2 + 8.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438011065251 + 8.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000438011065251[0m ×2 + 8.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102590463349 + 8.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001102590463349[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253965057572 + 8.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001253965057572[0m ×2 + 8.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306134281790 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001306134281790[0m ×2 + 8.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304039796548 + 8.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001304039796548[0m ×2 + 8.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275900407042 + 8.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001275900407042[0m ×2 + 8.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234619469567 + 8.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234619469567[0m ×2 + 8.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583574263415 + 8.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583574263415[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001944196088410 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001944196088410[0m ×2 + 8.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583141571490 + 8.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001583141571490[0m ×2 + 8.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333507505058 + 8.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333507505058[0m ×2 + 8.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170382391658 + 8.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170382391658[0m ×2 + 8.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361375104874 + 8.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361375104874[0m ×2 + 8.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184037349485 + 8.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001184037349485[0m ×2 + 8.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078774678440 + 8.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001078774678440[0m ×2 + 8.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001020939451167 + 8.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001020939451167[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157578105662 + 8.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001157578105662[0m ×2 + 8.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260428000309 + 8.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260428000309[0m ×2 + 8.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205710856532 + 8.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001205710856532[0m ×2 + 8.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302961848528 + 8.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001302961848528[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363778203171 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001363778203171[0m ×2 + 8.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394931055851 + 8.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001394931055851[0m ×2 + 8.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308747824907 + 8.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308747824907[0m ×2 + 8.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242592779981 + 8.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001242592779981[0m ×2 + 8.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609559687628 + 8.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001609559687628[0m ×2 + 8.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415453262989 + 8.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001415453262989[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234086731771 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001234086731771[0m ×2 + 8.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170449534116 + 8.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001170449534116[0m ×2 + 8.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129219899062 + 8.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001129219899062[0m ×2 + 8.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001115324411153 + 8.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001115324411153[0m ×2 + 8.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485175082288 + 8.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001485175082288[0m ×2 + 8.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333862075054 + 8.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001333862075054[0m ×2 + 8.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350581538004 + 8.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350581538004[0m ×2 + 8.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398086848616 + 8.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398086848616[0m ×2 + 8.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447175424158 + 8.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447175424158[0m ×2 + 8.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001364290974754 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001364290974754[0m ×2 + 8.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001303110449953 + 8.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001303110449953[0m ×2 + 8.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260573717193 + 8.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001260573717193[0m ×2 + 8.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001232816407088 + 8.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001232816407088[0m ×2 + 8.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611358400656 + 8.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001611358400656[0m ×2 + 8.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001444356391729 + 8.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001444356391729[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332776433829 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332776433829[0m ×2 + 8.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263628780802 + 8.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001263628780802[0m ×2 + 8.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224524630833 + 8.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001224524630833[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001375960199217 + 8.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001375960199217[0m ×2 + 8.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332406466377 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001332406466377[0m ×2 + 8.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300218276960 + 8.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001300218276960[0m ×2 + 9.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001279347749320 + 9.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001279347749320[0m ×2 + 9.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001266585916172 + 9.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001266585916172[0m ×2 + 9.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865092056252 + 9.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001865092056252[0m ×2 + 9.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496731769196 + 9.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002496731769196[0m ×2 + 9.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002007981374907 + 9.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002007981374907[0m ×2 + 9.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000696199173255 + 9.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000696199173255[0m ×2 + 9.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083091378163 + 9.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001083091378163[0m ×2 + 9.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401055633957 + 9.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401055633957[0m ×2 + 9.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002841263476 + 9.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002002841263476[0m ×2 + 9.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751898280974 + 9.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001751898280974[0m ×2 + 9.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001572336850240 + 9.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001572336850240[0m ×2 + 9.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001450124930295 + 9.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001450124930295[0m ×2 + 9.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988721319029 + 9.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988721319029[0m ×2 + 9.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712598078941 + 9.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001712598078941[0m ×2 + 9.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519588936987 + 9.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001519588936987[0m ×2 + 9.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400176183363 + 9.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001400176183363[0m ×2 + 9.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479344591064 + 9.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001479344591064[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424223630299 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001424223630299[0m ×2 + 9.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387873238685 + 9.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387873238685[0m ×2 + 9.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995186048897 + 9.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001995186048897[0m ×2 + 9.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736776041366 + 9.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001736776041366[0m ×2 + 9.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563972221668 + 9.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001563972221668[0m ×2 + 9.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782482274238 + 9.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001782482274238[0m ×2 + 9.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586263796262 + 9.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586263796262[0m ×2 + 9.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463778098221 + 9.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001463778098221[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392372104835 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001392372104835[0m ×2 + 9.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355708764348 + 9.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001355708764348[0m ×2 + 9.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590125419877 + 9.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000590125419877[0m ×2 + 9.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507922 ms (missed cycles : 3). + 9.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507922 ms (missed cycles : 3).[0m ×2 + 9.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431059853659 + 9.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001431059853659[0m ×2 + 9.32sWARNcontroller_managerOverrun might occur, Total time : 2091.695 us (Expected < 1666.667 us) --> Read time : 330.638 us, Update time : 205.204 us, Write time : 1555.853 us + 9.32sWARNros2_control_nodeOverrun might occur, Total time : 2091.695 us (Expected < 1666.667 us) --> Read time : 330.638 us, Update time : 205.204 us, Write time : 1555.853 us[0m ×2 + 9.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602524218941 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001602524218941[0m ×2 + 9.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698908599297 + 9.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001698908599297[0m ×2 + 9.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265035619107 + 9.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002265035619107[0m ×2 + 9.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951295028225 + 9.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951295028225[0m ×2 + 9.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734549138947 + 9.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001734549138947[0m ×2 + 9.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236030645504 + 9.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002236030645504[0m ×2 + 9.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892526770362 + 9.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001892526770362[0m ×2 + 9.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666393509993 + 9.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001666393509993[0m ×2 + 9.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526191691654 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001526191691654[0m ×2 + 9.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447011121644 + 9.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001447011121644[0m ×2 + 9.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061013977672 + 9.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002061013977672[0m ×2 + 9.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803374551065 + 9.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001803374551065[0m ×2 + 9.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626041282485 + 9.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001626041282485[0m ×2 + 9.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518314717778 + 9.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001518314717778[0m ×2 + 9.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616443955062 + 9.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001616443955062[0m ×2 + 9.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709391551349 + 9.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001709391551349[0m ×2 + 9.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300512544840 + 9.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002300512544840[0m ×2 + 9.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993133951678 + 9.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001993133951678[0m ×2 + 9.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784547027884 + 9.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784547027884[0m ×2 + 9.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642887441897 + 9.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001642887441897[0m ×2 + 9.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398198666647 + 9.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001398198666647[0m ×2 + 9.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002147153294225 + 9.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002147153294225[0m ×2 + 9.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966839315597 + 9.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001966839315597[0m ×2 + 9.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198132576523 + 9.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002198132576523[0m ×2 + 9.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618736798505 + 9.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618736798505[0m ×2 + 9.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188726284194 + 9.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002188726284194[0m ×2 + 9.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895899333816 + 9.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001895899333816[0m ×2 + 9.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778728644082 + 9.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001778728644082[0m ×2 + 9.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341656633954 + 9.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002341656633954[0m ×2 + 9.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004469325148 + 9.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002004469325148[0m ×2 + 9.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789380750564 + 9.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789380750564[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331203734600 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002331203734600[0m ×2 + 9.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001991762999963 + 9.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001991762999963[0m ×2 + 9.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001775657518271 + 9.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001775657518271[0m ×2 + 9.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640542708426 + 9.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640542708426[0m ×2 + 9.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074736582929 + 9.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002074736582929[0m ×2 + 9.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868802280122 + 9.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001868802280122[0m ×2 + 9.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506940239634 + 9.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001506940239634[0m ×2 + 9.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634834065610 + 9.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001634834065610[0m ×2 + 9.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337033229952 + 9.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002337033229952[0m ×2 + 9.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761913219339 + 9.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002761913219339[0m ×2 + 9.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312038845728 + 9.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002312038845728[0m ×2 + 9.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003161859184 + 9.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002003161859184[0m ×2 + 9.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002489590350595 + 9.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002489590350595[0m ×2 + 9.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101361293787 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002101361293787[0m ×2 + 9.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885003463578 + 9.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001885003463578[0m ×2 + 9.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441115952257 + 9.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002441115952257[0m ×2 + 9.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093684522261 + 9.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093684522261[0m ×2 + 9.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535720393493 + 9.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002535720393493[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137459142921 + 9.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002137459142921[0m ×2 + 9.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888726861802 + 9.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001888726861802[0m ×2 + 9.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421583836090 + 9.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002421583836090[0m ×2 + 9.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600978726316 + 9.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001600978726316[0m ×2 + 9.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825405059310 + 9.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825405059310[0m ×2 + 9.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484693269681 + 9.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484693269681[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884455409576 + 9.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002884455409576[0m ×2 + 9.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405151754834 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002405151754834[0m ×2 + 9.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781642393020 + 9.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781642393020[0m ×2 + 9.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298952982755 + 9.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002298952982755[0m ×2 + 10.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983560031043 + 10.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983560031043[0m ×2 + 10.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432230146080 + 10.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002432230146080[0m ×2 + 10.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065208866458 + 10.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002065208866458[0m ×2 + 10.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540206827200 + 10.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002540206827200[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136391799413 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002136391799413[0m ×2 + 10.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002588101679948 + 10.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002588101679948[0m ×2 + 10.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169488505253 + 10.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002169488505253[0m ×2 + 10.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903850049777 + 10.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903850049777[0m ×2 + 10.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355562545260 + 10.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002355562545260[0m ×2 + 10.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025868748716 + 10.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002025868748716[0m ×2 + 10.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532013580249 + 10.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002532013580249[0m ×2 + 10.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654953675281 + 10.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001654953675281[0m ×2 + 10.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880209994611 + 10.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001880209994611[0m ×2 + 10.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805440670211 + 10.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805440670211[0m ×2 + 10.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647212912446 + 10.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001647212912446[0m ×2 + 10.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744094547354 + 10.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001744094547354[0m ×2 + 10.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495478845546 + 10.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002495478845546[0m ×2 + 10.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950253468293 + 10.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002950253468293[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203521250262 + 10.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003203521250262[0m ×2 + 10.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609748165661 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002609748165661[0m ×2 + 10.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925404923003 + 10.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925404923003[0m ×2 + 10.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002396369715630 + 10.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002396369715630[0m ×2 + 10.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771127495425 + 10.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002771127495425[0m ×2 + 10.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905466305378 + 10.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002905466305378[0m ×2 + 10.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370500992457 + 10.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002370500992457[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358721 ms (missed cycles : 3). + 10.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749905899294 + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358721 ms (missed cycles : 3).[0m ×2 + 10.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002749905899294[0m ×2 + 10.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689855138277 + 10.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001689855138277[0m ×2 + 10.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899806150247 + 10.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001899806150247[0m ×2 + 10.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002588480701589 + 10.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002588480701589[0m ×2 + 10.35sWARNcontroller_managerOverrun might occur, Total time : 1709.576 us (Expected < 1666.667 us) --> Read time : 573.572 us, Update time : 154.753 us, Write time : 981.251 us + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006723297807 + 10.35sWARNros2_control_nodeOverrun might occur, Total time : 1709.576 us (Expected < 1666.667 us) --> Read time : 573.572 us, Update time : 154.753 us, Write time : 981.251 us[0m ×2 + 10.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006723297807[0m ×2 + 10.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241379711099 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241379711099[0m ×2 + 10.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634651598595 + 10.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002634651598595[0m ×2 + 10.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953313270866 + 10.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953313270866[0m ×2 + 10.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420989300436 + 10.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002420989300436[0m ×2 + 10.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883912767422 + 10.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002883912767422[0m ×2 + 10.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367843900207 + 10.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002367843900207[0m ×2 + 10.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766360318572 + 10.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002766360318572[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295576650817 + 10.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002295576650817[0m ×2 + 10.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023158970442 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002023158970442[0m ×2 + 10.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610733372151 + 10.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610733372151[0m ×2 + 10.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983277508932 + 10.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983277508932[0m ×2 + 10.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204368814927 + 10.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003204368814927[0m ×2 + 10.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278204484367 + 10.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003278204484367[0m ×2 + 10.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639458477349 + 10.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002639458477349[0m ×2 + 10.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953398457906 + 10.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953398457906[0m ×2 + 10.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418192399996 + 10.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002418192399996[0m ×2 + 10.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072455600638 + 10.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002072455600638[0m ×2 + 10.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646040845091 + 10.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646040845091[0m ×2 + 10.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010837705481 + 10.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003010837705481[0m ×2 + 10.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353215551903 + 10.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353215551903[0m ×2 + 10.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827687632978 + 10.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002827687632978[0m ×2 + 10.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122624935324 + 10.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003122624935324[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293587762675 + 10.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003293587762675[0m ×2 + 10.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646439484179 + 10.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646439484179[0m ×2 + 10.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962854509309 + 10.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002962854509309[0m ×2 + 10.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165971121115 + 10.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165971121115[0m ×2 + 10.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548484457223 + 10.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548484457223[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893209949057 + 10.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002893209949057[0m ×2 + 10.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256837409256 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002256837409256[0m ×2 + 10.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758721499728 + 10.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002758721499728[0m ×2 + 10.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079866793653 + 10.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003079866793653[0m ×2 + 10.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272353048391 + 10.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272353048391[0m ×2 + 10.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527744969063 + 10.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003527744969063[0m ×2 + 10.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002518182904085 + 10.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002518182904085[0m ×2 + 10.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391260602381 + 10.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391260602381[0m ×2 + 10.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457585943555 + 10.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003457585943555[0m ×2 + 10.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743524566754 + 10.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002743524566754[0m ×2 + 10.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019125633817 + 10.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003019125633817[0m ×2 + 10.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301798178333 + 10.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002301798178333[0m ×2 + 10.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093042567835 + 10.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093042567835[0m ×2 + 10.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705858073472 + 10.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002705858073472[0m ×2 + 10.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090282114461 + 10.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090282114461[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373106371065 + 10.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003373106371065[0m ×2 + 10.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474832697795 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003474832697795[0m ×2 + 10.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515299964892 + 10.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003515299964892[0m ×2 + 10.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520142132486 + 10.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003520142132486[0m ×2 + 10.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762996905806 + 10.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762996905806[0m ×2 + 10.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003023443723146 + 10.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003023443723146[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196875397308 + 10.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003196875397308[0m ×2 + 10.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306518061321 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306518061321[0m ×2 + 10.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375940297792 + 10.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003375940297792[0m ×2 + 10.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411201974062 + 10.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003411201974062[0m ×2 + 10.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683546430887 + 10.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002683546430887[0m ×2 + 10.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690205854298 + 10.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001690205854298[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963162739478 + 10.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001963162739478[0m ×2 + 10.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691149928630 + 10.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002691149928630[0m ×2 + 10.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003139361661664 + 10.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003139361661664[0m ×2 + 11.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394770373672 + 11.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003394770373672[0m ×2 + 11.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972844574047 + 11.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001972844574047[0m ×2 + 11.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662711353488 + 11.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002662711353488[0m ×2 + 11.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094430895523 + 11.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094430895523[0m ×2 + 11.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346138524821 + 11.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003346138524821[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478849029598 + 11.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003478849029598[0m ×2 + 11.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536196193880 + 11.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003536196193880[0m ×2 + 11.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549011392935 + 11.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003549011392935[0m ×2 + 11.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538433172022 + 11.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003538433172022[0m ×2 + 11.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517657086153 + 11.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517657086153[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495141207350 + 11.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495141207350[0m ×2 + 11.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473940402610 + 11.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473940402610[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456629220227 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003456629220227[0m ×2 + 11.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443688686351 + 11.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003443688686351[0m ×2 + 11.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434888329001 + 11.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003434888329001[0m ×2 + 11.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428754419417 + 11.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003428754419417[0m ×2 + 11.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426197266587 + 11.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003426197266587[0m ×2 + 11.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684741036202 + 11.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003684741036202[0m ×2 + 11.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586335490428 + 11.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003586335490428[0m ×2 + 11.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839826714673 + 11.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001839826714673[0m ×2 + 11.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002534207286451 + 11.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002534207286451[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002987688207730 + 11.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002987688207730[0m ×2 + 11.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650939933057 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004650939933057[0m ×2 + 11.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288542872566 + 11.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004288542872566[0m ×2 + 11.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006050931064 + 11.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004006050931064[0m ×2 + 11.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795661569576 + 11.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003795661569576[0m ×2 + 11.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273313713143 + 11.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004273313713143[0m ×2 + 11.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263921989887 + 11.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005263921989887[0m ×2 + 11.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542091911240 + 11.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542091911240[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073937 ms (missed cycles : 3). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073937 ms (missed cycles : 3).[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049409096808 + 11.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049409096808[0m ×2 + 11.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855523009928 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855523009928[0m ×2 + 11.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669193152823 + 11.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669193152823[0m ×2 + 11.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003543624727114 + 11.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003543624727114[0m ×2 + 11.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472209692292 + 11.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003472209692292[0m ×2 + 11.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354859641044 + 11.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004354859641044[0m ×2 + 11.38sWARNcontroller_managerOverrun might occur, Total time : 1742.137 us (Expected < 1666.667 us) --> Read time : 284.496 us, Update time : 854.558 us, Write time : 603.083 us + 11.38sWARNros2_control_nodeOverrun might occur, Total time : 1742.137 us (Expected < 1666.667 us) --> Read time : 284.496 us, Update time : 854.558 us, Write time : 603.083 us[0m ×2 + 11.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000257311519 + 11.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004000257311519[0m ×2 + 11.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508074676209 + 11.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508074676209[0m ×2 + 11.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369602144153 + 11.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002369602144153[0m ×2 + 11.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309144217232 + 11.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004309144217232[0m ×2 + 11.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005507179352742 + 11.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005507179352742[0m ×2 + 11.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810989609731 + 11.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004810989609731[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298104029690 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004298104029690[0m ×2 + 11.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935677641974 + 11.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935677641974[0m ×2 + 11.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694270476000 + 11.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003694270476000[0m ×2 + 11.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535922377456 + 11.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535922377456[0m ×2 + 11.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012118935713 + 11.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004012118935713[0m ×2 + 11.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737649233078 + 11.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737649233078[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561037397145 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561037397145[0m ×2 + 11.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003454277977785 + 11.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003454277977785[0m ×2 + 11.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395164592445 + 11.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395164592445[0m ×2 + 11.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366930238221 + 11.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003366930238221[0m ×2 + 11.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245242752677 + 11.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004245242752677[0m ×2 + 11.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904868379482 + 11.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003904868379482[0m ×2 + 11.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675783635117 + 11.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003675783635117[0m ×2 + 11.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169817286740 + 11.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169817286740[0m ×2 + 11.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789753225627 + 11.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789753225627[0m ×2 + 11.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928659809109 + 11.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003928659809109[0m ×2 + 11.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198088610306 + 11.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005198088610306[0m ×2 + 11.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592015598009 + 11.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003592015598009[0m ×2 + 11.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281480957229 + 11.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003281480957229[0m ×2 + 11.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322065281309 + 11.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322065281309[0m ×2 + 11.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831340540384 + 11.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004831340540384[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742815936169 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005742815936169[0m ×2 + 11.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879729444677 + 11.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879729444677[0m ×2 + 11.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267357218116 + 11.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004267357218116[0m ×2 + 11.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218055758558 + 11.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005218055758558[0m ×2 + 11.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005239916952061 + 11.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005239916952061[0m ×2 + 11.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450041541241 + 11.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004450041541241[0m ×2 + 11.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924739786896 + 11.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924739786896[0m ×2 + 11.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077976782854 + 11.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003077976782854[0m ×2 + 11.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669859243190 + 11.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003669859243190[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986724814871 + 11.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004986724814871[0m ×2 + 11.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005778005418539 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005778005418539[0m ×2 + 11.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854993044626 + 11.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004854993044626[0m ×2 + 11.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212871852238 + 11.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004212871852238[0m ×2 + 11.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140347250481 + 11.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005140347250481[0m ×2 + 11.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277174568280 + 11.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005277174568280[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445844825726 + 11.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445844825726[0m ×2 + 11.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896435607530 + 11.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003896435607530[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903200640212 + 11.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004903200640212[0m ×2 + 11.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092578146802 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004092578146802[0m ×2 + 11.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068608286435 + 11.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005068608286435[0m ×2 + 11.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326360321295 + 11.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326360321295[0m ×2 + 11.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178721617413 + 11.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005178721617413[0m ×2 + 11.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200253882524 + 11.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005200253882524[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375524553114 + 11.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375524553114[0m ×2 + 11.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835188298155 + 11.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003835188298155[0m ×2 + 11.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840682029596 + 11.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004840682029596[0m ×2 + 11.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142028673606 + 11.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142028673606[0m ×2 + 11.97sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×12 + 12.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489236 ms (missed cycles : 4). + 12.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.489236 ms (missed cycles : 4).[0m ×2 + 12.41sWARNcontroller_managerOverrun might occur, Total time : 1952.802 us (Expected < 1666.667 us) --> Read time : 202.074 us, Update time : 1375.920 us, Write time : 374.808 us + 12.41sWARNros2_control_nodeOverrun might occur, Total time : 1952.802 us (Expected < 1666.667 us) --> Read time : 202.074 us, Update time : 1375.920 us, Write time : 374.808 us[0m ×2 + 13.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946096 ms (missed cycles : 3). + 13.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946096 ms (missed cycles : 3).[0m ×2 + 13.78sWARNcontroller_managerOverrun might occur, Total time : 4478.326 us (Expected < 1666.667 us) --> Read time : 219.345 us, Update time : 2256.878 us, Write time : 2002.103 us + 13.78sWARNros2_control_nodeOverrun might occur, Total time : 4478.326 us (Expected < 1666.667 us) --> Read time : 219.345 us, Update time : 2256.878 us, Write time : 2002.103 us[0m ×2 + 14.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001234823927 + 14.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001234823927[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000999412034 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000999412034[0m ×2 + 14.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065720348999 + 14.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000065720348999[0m ×2 + 14.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038787658823 + 14.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000038787658823[0m ×2 + 14.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020110170896 + 14.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020110170896[0m ×2 + 14.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085560386480 + 14.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000085560386480[0m ×2 + 14.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166134008896 + 14.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000166134008896[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101326223444 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000101326223444[0m ×2 + 14.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055948524765 + 14.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000055948524765[0m ×2 + 14.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112651476973 + 14.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000112651476973[0m ×2 + 14.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073833522873 + 14.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073833522873[0m ×2 + 14.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000565926611662 + 14.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000565926611662[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440098469704 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000440098469704[0m ×2 + 14.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000413086488039 + 14.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000413086488039[0m ×2 + 14.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000779177058508 + 14.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000779177058508[0m ×2 + 14.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000415335309734 + 14.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000415335309734[0m ×2 + 14.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832956950405 + 14.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000832956950405[0m ×2 + 14.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852790402481 + 14.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001852790402481[0m ×2 + 14.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474770 ms (missed cycles : 2). + 14.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.474770 ms (missed cycles : 2).[0m ×2 + 14.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586511552592 + 14.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586511552592[0m ×2 + 14.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356146551854 + 14.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001356146551854[0m ×2 + 14.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163489748342 + 14.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000163489748342[0m ×2 + 14.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000265179897474 + 14.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000265179897474[0m ×2 + 14.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292130670661 + 14.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292130670661[0m ×2 + 14.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002263648305612 + 14.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002263648305612[0m ×2 + 14.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128479492437 + 14.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128479492437[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151455999366 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000151455999366[0m ×2 + 14.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000715721150444 + 14.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000715721150444[0m ×2 + 14.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000412654981765 + 14.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000412654981765[0m ×2 + 14.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243952922860 + 14.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000243952922860[0m ×2 + 14.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149035627150 + 14.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000149035627150[0m ×2 + 14.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115132861192 + 14.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115132861192[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106107966729 + 14.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000106107966729[0m ×2 + 14.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077257043609 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000077257043609[0m ×2 + 14.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187964634941 + 14.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000187964634941[0m ×2 + 14.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179939554741 + 14.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000179939554741[0m ×2 + 14.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247506270238 + 14.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000247506270238[0m ×2 + 14.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000996157595934 + 14.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000996157595934[0m ×2 + 14.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000806273788169 + 14.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000806273788169[0m ×2 + 14.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107504208587 + 14.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001107504208587[0m ×2 + 14.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606747597415 + 14.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000606747597415[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030488545900 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030488545900[0m ×2 + 14.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334871510529 + 14.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002334871510529[0m ×2 + 14.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284728454452 + 14.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001284728454452[0m ×2 + 14.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272807258146 + 14.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272807258146[0m ×2 + 14.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097127533501 + 14.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097127533501[0m ×2 + 14.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807818672264 + 14.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004807818672264[0m ×2 + 14.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000401530392757 + 14.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000401530392757[0m ×2 + 14.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181496568166 ×2 + 14.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181496568166[0m ×4 + 14.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390020927623 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000390020927623[0m ×2 + 14.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123607364870 + 14.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123607364870[0m ×2 + 14.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677353267253 + 14.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003677353267253[0m ×2 + 14.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102922904070 + 14.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002102922904070[0m ×2 + 14.83sWARNcontroller_managerOverrun might occur, Total time : 2287.870 us (Expected < 1666.667 us) --> Read time : 252.476 us, Update time : 1604.834 us, Write time : 430.560 us + 14.83sWARNros2_control_nodeOverrun might occur, Total time : 2287.870 us (Expected < 1666.667 us) --> Read time : 252.476 us, Update time : 1604.834 us, Write time : 430.560 us[0m ×2 + 14.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007750012963193 + 14.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007750012963193[0m ×2 + 14.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025147615991 + 14.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025147615991[0m ×2 + 14.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002143288901299 + 14.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002143288901299[0m ×2 + 14.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257315165907 + 14.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257315165907[0m ×2 + 14.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052235914381 + 14.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003052235914381[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001745607131091 + 14.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001745607131091[0m ×2 + 14.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002044596311104 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002044596311104[0m ×2 + 14.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495058128815 + 14.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003495058128815[0m ×2 + 14.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349424127617 + 14.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004349424127617[0m ×2 + 14.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572994155031 + 14.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003572994155031[0m ×2 + 14.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800395644157 + 14.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003800395644157[0m ×2 + 14.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194941981443 + 14.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003194941981443[0m ×2 + 14.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814641913552 + 14.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814641913552[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594260462653 + 14.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002594260462653[0m ×2 + 14.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890202287529 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002890202287529[0m ×2 + 14.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737916650029 + 14.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737916650029[0m ×2 + 14.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642542620506 + 14.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002642542620506[0m ×2 + 15.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586956811712 + 15.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002586956811712[0m ×2 + 15.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379302004653 + 15.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003379302004653[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016386828593 + 15.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003016386828593[0m ×2 + 15.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778805260007 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778805260007[0m ×2 + 15.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633715455558 + 15.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002633715455558[0m ×2 + 15.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553083553851 + 15.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002553083553851[0m ×2 + 15.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514550070973 + 15.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002514550070973[0m ×2 + 15.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304979576206 + 15.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003304979576206[0m ×2 + 15.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961235977532 + 15.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002961235977532[0m ×2 + 15.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059756143445 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003059756143445[0m ×2 + 15.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132703091723 + 15.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003132703091723[0m ×2 + 15.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901554913233 + 15.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002901554913233[0m ×2 + 15.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745254923042 + 15.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002745254923042[0m ×2 + 15.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644974043767 + 15.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002644974043767[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423456758915 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003423456758915[0m ×2 + 15.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037451870426 + 15.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003037451870426[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785272817816 + 15.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002785272817816[0m ×2 + 15.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631646422819 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631646422819[0m ×2 + 15.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546603132085 + 15.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002546603132085[0m ×2 + 15.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506440176335 + 15.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002506440176335[0m ×2 + 15.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493508421455 + 15.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002493508421455[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272025564602 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003272025564602[0m ×2 + 15.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946761784451 + 15.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946761784451[0m ×2 + 15.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736469269654 + 15.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002736469269654[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001060180482325 + 15.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001060180482325[0m ×2 + 15.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249906072973 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003249906072973[0m ×2 + 15.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381263428837 + 15.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004381263428837[0m ×2 + 15.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732743135821 + 15.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003732743135821[0m ×2 + 15.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489685532463 + 15.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489685532463[0m ×2 + 15.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707135056312 + 15.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707135056312[0m ×2 + 15.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619293679885 + 15.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002619293679885[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841466910118 + 15.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003841466910118[0m ×2 + 15.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324700418783 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003324700418783[0m ×2 + 15.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002974221481394 + 15.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002974221481394[0m ×2 + 15.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750102474472 + 15.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750102474472[0m ×2 + 15.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838827061690 + 15.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003838827061690[0m ×2 + 15.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250979336948 + 15.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003250979336948[0m ×2 + 15.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471760954019 + 15.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003471760954019[0m ×2 + 15.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006030698009 + 15.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003006030698009[0m ×2 + 15.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995365427728 + 15.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995365427728[0m ×2 + 15.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776094841546 + 15.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776094841546[0m ×2 + 15.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864592021914 + 15.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003864592021914[0m ×2 + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210522 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210522 ms (missed cycles : 2).[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899160643672 + 15.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003899160643672[0m ×2 + 15.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294532877863 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003294532877863[0m ×2 + 15.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906596138911 + 15.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002906596138911[0m ×2 + 15.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674424974259 + 15.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002674424974259[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431155716146 + 15.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431155716146[0m ×2 + 15.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990621958966 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002990621958966[0m ×2 + 15.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721551086853 + 15.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721551086853[0m ×2 + 15.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571108361677 + 15.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002571108361677[0m ×2 + 15.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537293726606 + 15.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002537293726606[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657302559086 + 15.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002657302559086[0m ×2 + 15.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910255984098 + 15.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910255984098[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004570073427015 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004570073427015[0m ×2 + 15.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720099683571 + 15.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720099683571[0m ×2 + 15.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152563622327 + 15.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003152563622327[0m ×2 + 15.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797246016147 + 15.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002797246016147[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537874933654 + 15.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537874933654[0m ×2 + 15.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028580649730 + 15.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028580649730[0m ×2 + 15.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719403161265 + 15.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002719403161265[0m ×2 + 15.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897482143868 + 15.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002897482143868[0m ×2 + 15.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910314017792 + 15.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003910314017792[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122941507614 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122941507614[0m ×2 + 15.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431344072971 + 15.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431344072971[0m ×2 + 15.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982216285129 + 15.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982216285129[0m ×2 + 15.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708911563729 + 15.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708911563729[0m ×2 + 15.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446988405372 + 15.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003446988405372[0m ×2 + 15.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391547951212 + 15.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002391547951212[0m ×2 + 15.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509686997266 + 15.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002509686997266[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105363917775 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003105363917775[0m ×2 + 15.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126007170523 + 15.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004126007170523[0m ×2 + 15.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651577819044 + 15.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004651577819044[0m ×2 + 15.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759576171537 + 15.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003759576171537[0m ×2 + 15.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162369785965 + 15.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003162369785965[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878819746605 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878819746605[0m ×2 + 15.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213956609057 + 15.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003213956609057[0m ×2 + 15.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801206677711 + 15.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801206677711[0m ×2 + 15.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729850417515 + 15.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729850417515[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842563654203 + 15.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003842563654203[0m ×2 + 15.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190958757087 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003190958757087[0m ×2 + 15.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791780574709 + 15.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002791780574709[0m ×2 + 15.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735141085898 + 15.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003735141085898[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796002808699 + 15.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003796002808699[0m ×2 + 15.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165890982814 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003165890982814[0m ×2 + 15.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781484950300 + 15.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002781484950300[0m ×2 + 15.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733309024779 + 15.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733309024779[0m ×2 + 15.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130818398710 + 15.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003130818398710[0m ×2 + 15.87sWARNcontroller_managerOverrun might occur, Total time : 1895.641 us (Expected < 1666.667 us) --> Read time : 288.777 us, Update time : 151.653 us, Write time : 1455.211 us + 15.87sWARNros2_control_nodeOverrun might occur, Total time : 1895.641 us (Expected < 1666.667 us) --> Read time : 288.777 us, Update time : 151.653 us, Write time : 1455.211 us[0m ×2 + 15.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517092930276 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003517092930276[0m ×2 + 15.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353136435421 + 15.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002353136435421[0m ×2 + 15.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693338602705 + 15.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003693338602705[0m ×2 + 15.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402503372122 + 15.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004402503372122[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477631092742 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003477631092742[0m ×2 + 15.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574148502197 + 15.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002574148502197[0m ×2 + 15.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708342688940 + 15.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003708342688940[0m ×2 + 15.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339852316145 + 15.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004339852316145[0m ×2 + 15.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029379078261 + 15.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005029379078261[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973883716514 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003973883716514[0m ×2 + 16.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269523346270 + 16.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269523346270[0m ×2 + 16.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947079215899 + 16.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947079215899[0m ×2 + 16.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227831642200 + 16.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003227831642200[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922620594779 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003922620594779[0m ×2 + 16.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201043149726 + 16.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003201043149726[0m ×2 + 16.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763501522627 + 16.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002763501522627[0m ×2 + 16.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658833300330 + 16.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003658833300330[0m ×2 + 16.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092852443526 + 16.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003092852443526[0m ×2 + 16.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968672035541 + 16.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002968672035541[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848282060127 + 16.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848282060127[0m ×2 + 16.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337621928011 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337621928011[0m ×2 + 16.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499391219914 + 16.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003499391219914[0m ×2 + 16.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065760113258 + 16.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004065760113258[0m ×2 + 16.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290358036758 + 16.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290358036758[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659658959805 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003659658959805[0m ×2 + 16.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033935535617 + 16.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003033935535617[0m ×2 + 16.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775581736918 + 16.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003775581736918[0m ×2 + 16.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108185531621 + 16.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003108185531621[0m ×2 + 16.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790296561988 + 16.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790296561988[0m ×2 + 16.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522185962441 + 16.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522185962441[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208012874874 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003208012874874[0m ×2 + 16.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985373866668 + 16.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003985373866668[0m ×2 + 16.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395705367393 + 16.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004395705367393[0m ×2 + 16.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003523795490783 + 16.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003523795490783[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193627520898 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004193627520898[0m ×2 + 16.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367310161346 + 16.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003367310161346[0m ×2 + 16.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938800230546 + 16.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938800230546[0m ×2 + 16.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188582459055 + 16.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003188582459055[0m ×2 + 16.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873722898668 + 16.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002873722898668[0m ×2 + 16.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699523318448 + 16.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003699523318448[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358357779478 + 16.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358357779478[0m ×2 + 16.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317216371435 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317216371435[0m ×2 + 16.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934867923581 + 16.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003934867923581[0m ×2 + 16.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280326902847 + 16.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004280326902847[0m ×2 + 16.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408208159817 + 16.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003408208159817[0m ×2 + 16.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930849032851 + 16.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003930849032851[0m ×2 + 16.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121169652349 + 16.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004121169652349[0m ×2 + 16.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289041846032 + 16.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003289041846032[0m ×2 + 16.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878860502357 + 16.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002878860502357[0m ×2 + 16.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666483179622 + 16.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003666483179622[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313031854106 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313031854106[0m ×2 + 16.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274818340651 + 16.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274818340651[0m ×2 + 16.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879261851558 + 16.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003879261851558[0m ×2 + 16.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218420401500 + 16.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004218420401500[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563461889930 + 16.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563461889930[0m ×2 + 16.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571659097131 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003571659097131[0m ×2 + 16.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990593969927 + 16.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990593969927[0m ×2 + 16.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102738 ms (missed cycles : 2). + 16.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.102738 ms (missed cycles : 2).[0m ×2 + 16.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191062169969 + 16.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003191062169969[0m ×2 + 16.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758093425751 + 16.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003758093425751[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085403723322 + 16.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085403723322[0m ×2 + 16.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139590050669 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139590050669[0m ×2 + 16.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274984652625 + 16.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003274984652625[0m ×2 + 16.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794803419989 + 16.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794803419989[0m ×2 + 16.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093241495586 + 16.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004093241495586[0m ×2 + 16.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465069276680 + 16.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465069276680[0m ×2 + 16.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427203632555 + 16.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003427203632555[0m ×2 + 16.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969219551988 + 16.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969219551988[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118477827431 + 16.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005118477827431[0m ×2 + 16.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947753278122 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003947753278122[0m ×2 + 16.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189965105899 + 16.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004189965105899[0m ×2 + 16.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302364537227 + 16.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004302364537227[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350256908091 + 16.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350256908091[0m ×2 + 16.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782867465376 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003782867465376[0m ×2 + 16.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034789428408 + 16.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034789428408[0m ×2 + 16.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181821156983 + 16.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181821156983[0m ×2 + 16.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686527266050 + 16.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003686527266050[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299313310103 + 16.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299313310103[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351611868004 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003351611868004[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815139151963 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002815139151963[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721052518005 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721052518005[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750488581342 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002750488581342[0m ×2 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562891362893 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003562891362893[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030966194241 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004030966194241[0m ×2 + 16.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153406204471 + 16.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005153406204471[0m ×2 + 16.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947644331691 + 16.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004947644331691[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751503447603 + 16.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004751503447603[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231253513611 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231253513611[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692654031957 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692654031957[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969292914983 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003969292914983[0m ×2 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125505110191 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125505110191[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204259690186 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004204259690186[0m ×2 + 16.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235400609720 + 16.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004235400609720[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239219447723 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004239219447723[0m ×2 + 16.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333000994239 + 16.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004333000994239[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322237564390 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003322237564390[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697203406465 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003697203406465[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915642681458 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003915642681458[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042268243067 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004042268243067[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110696483163 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110696483163[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142215778459 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004142215778459[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151238967446 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004151238967446[0m ×2 + 16.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147442489577 + 16.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004147442489577[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137061042115 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004137061042115[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228519224976 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004228519224976[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178513502375 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178513502375[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140315813263 + 16.96sWARNcontroller_managerOverrun might occur, Total time : 1864.350 us (Expected < 1666.667 us) --> Read time : 227.055 us, Update time : 84.662 us, Write time : 1552.633 us + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004140315813263[0m ×2 + 16.96sWARNros2_control_nodeOverrun might occur, Total time : 1864.350 us (Expected < 1666.667 us) --> Read time : 227.055 us, Update time : 84.662 us, Write time : 1552.633 us[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002939918316678 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002939918316678[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455961003997 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003455961003997[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763441172291 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003763441172291[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938145251484 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003938145251484[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027656432538 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027656432538[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064445972740 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004064445972740[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626059978183 + 17.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004626059978183[0m ×2 + 17.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407009774826 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004407009774826[0m ×2 + 17.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247782088042 + 17.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004247782088042[0m ×2 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136699340519 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004136699340519[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066051128029 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004066051128029[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023183760718 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004023183760718[0m ×2 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996295520393 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003996295520393[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978228779128 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978228779128[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964966736903 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003964966736903[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515157770869 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004515157770869[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283254956908 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283254956908[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127817733611 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127817733611[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264765022034 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002264765022034[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003065168261592 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003065168261592[0m ×2 + 17.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682131056242 + 17.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682131056242[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306580058320 + 17.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003306580058320[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301362737312 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004301362737312[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841090292740 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005841090292740[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005089418657311 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005089418657311[0m ×2 + 17.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584093713433 + 17.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004584093713433[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110330760554 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005110330760554[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565268608757 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565268608757[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208352070906 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004208352070906[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986038662992 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003986038662992[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855751699738 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003855751699738[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379760753614 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379760753614[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110526525151 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110526525151[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953943474710 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953943474710[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863694399416 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003863694399416[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386944143278 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004386944143278[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125420912997 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125420912997[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957839787033 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003957839787033[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965914744898 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003965914744898[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164080820137 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005164080820137[0m ×2 + 17.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688985701603 + 17.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004688985701603[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320080334151 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004320080334151[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931679416983 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001931679416983[0m ×2 + 17.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823031112106 + 17.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002823031112106[0m ×2 + 17.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827586305485 + 17.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004827586305485[0m ×2 + 17.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847165937329 + 17.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005847165937329[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006112702652522 + 17.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006112702652522[0m ×2 + 17.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189636840876 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005189636840876[0m ×2 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542627288358 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004542627288358[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110466265593 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110466265593[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014353837300 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005014353837300[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383794497214 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004383794497214[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982172330242 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982172330242[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.251741 ms (missed cycles : 7). + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739642336941 + 17.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.251741 ms (missed cycles : 7).[0m ×2 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003739642336941[0m ×2 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127699517406 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127699517406[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554931549957 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554931549957[0m ×2 + 17.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879854863626 + 17.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004879854863626[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350991498340 + 17.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350991498340[0m ×2 + 17.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689040976393 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004689040976393[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645464870353 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645464870353[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718121278306 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718121278306[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141916924196 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004141916924196[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002796751449 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005002796751449[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307096778008 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004307096778008[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869870512769 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003869870512769[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608290115145 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003608290115145[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976269795726 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003976269795726[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898537080888 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004898537080888[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350112215567 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005350112215567[0m ×2 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566936909776 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566936909776[0m ×2 + 17.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045028548696 + 17.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004045028548696[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086754886952 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005086754886952[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213337906461 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005213337906461[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375302489131 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004375302489131[0m ×2 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888165622567 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888165622567[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026495894440 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004026495894440[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869813386362 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004869813386362[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244442211573 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004244442211573[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190736516578 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005190736516578[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323913908439 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004323913908439[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149003913448 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149003913448[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266689782272 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004266689782272[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753952886931 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003753952886931[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789966757024 + 17.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789966757024[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022712638158 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004022712638158[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805218348872 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805218348872[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162932608488 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162932608488[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817782990279 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004817782990279[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088471607276 + 17.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004088471607276[0m ×2 + 17.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928642766238 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004928642766238[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086127375299 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004086127375299[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863702825053 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004863702825053[0m ×2 + 17.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031422068126 + 17.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004031422068126[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808729619997 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004808729619997[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005021405700946 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005021405700946[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128299752862 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128299752862[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849904428269 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004849904428269[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998494153032 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998494153032[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735687344477 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004735687344477[0m ×2 + 17.96sWARNcontroller_managerOverrun might occur, Total time : 2851.071 us (Expected < 1666.667 us) --> Read time : 626.053 us, Update time : 277.206 us, Write time : 1947.812 us + 17.96sWARNros2_control_nodeOverrun might occur, Total time : 2851.071 us (Expected < 1666.667 us) --> Read time : 626.053 us, Update time : 277.206 us, Write time : 1947.812 us[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953144619236 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003953144619236[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291526170989 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003291526170989[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128467390204 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004128467390204[0m ×2 + 17.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818630609548 + 17.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004818630609548[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196044300055 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005196044300055[0m ×2 + 18.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383737344744 + 18.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005383737344744[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311631698640 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004311631698640[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018419115609 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018419115609[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229143924895 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005229143924895[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155314376329 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155314376329[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660852150517 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004660852150517[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909413107887 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004909413107887[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935674774378 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935674774378[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499456627310 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499456627310[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859486650202 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859486650202[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901128383789 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003901128383789[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466426472150 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466426472150[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003243968894622 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003243968894622[0m ×2 + 18.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218709192344 + 18.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003218709192344[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034991302074 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004034991302074[0m ×2 + 18.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529728008675 + 18.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004529728008675[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709469429501 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005709469429501[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529396347650 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005529396347650[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106560575476 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003106560575476[0m ×2 + 18.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854513916282 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003854513916282[0m ×2 + 18.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313219883626 + 18.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313219883626[0m ×2 + 18.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575281729019 + 18.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004575281729019[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712525421409 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004712525421409[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767984684133 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004767984684133[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385112328545 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385112328545[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146606313213 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005146606313213[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962518598376 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004962518598376[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823148760865 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004823148760865[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752050789262 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004752050789262[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708039238557 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004708039238557[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672879922977 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004672879922977[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639532542962 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004639532542962[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605780412610 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004605780412610[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933895195257 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004933895195257[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765462579111 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765462579111[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646365671990 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646365671990[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563585510517 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004563585510517[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889059813997 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004889059813997[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701919691032 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004701919691032[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533181224558 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002533181224558[0m ×2 + 18.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120474935895 + 18.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005120474935895[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971091096449 + 18.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004971091096449[0m ×2 + 18.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824931705755 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004824931705755[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005927861705001 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005927861705001[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385893960775 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385893960775[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990859325801 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990859325801[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714257945227 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004714257945227[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528419125613 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004528419125613[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005624343322242 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005624343322242[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094355927131 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005094355927131[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952027073424 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004952027073424[0m ×2 + 18.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695271506308 + 18.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695271506308[0m ×2 + 18.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517333417269 + 18.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004517333417269[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604627338505 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005604627338505[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077475333024 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077475333024[0m ×2 + 18.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236729 ms (missed cycles : 2). + 18.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236729 ms (missed cycles : 2).[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715831715113 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715831715113[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775752260135 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775752260135[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876840589422 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004876840589422[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946779616353 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004946779616353[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006395183180687 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006395183180687[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006974408836185 + 18.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006974408836185[0m ×2 + 18.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941849019204 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941849019204[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005211406603024 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005211406603024[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715946496988 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004715946496988[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006061272531376 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006061272531376[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006371853113795 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006371853113795[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430395659807 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005430395659807[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004798713290045 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004798713290045[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049064521109 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006049064521109[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182352082286 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005182352082286[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750853951445 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005750853951445[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966488627085 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004966488627085[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006102606272202 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006102606272202[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176215246591 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005176215246591[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740190858158 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005740190858158[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922640894633 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004922640894633[0m ×2 + 18.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521167453041 + 18.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004521167453041[0m ×2 + 18.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496991971134 + 18.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004496991971134[0m ×2 + 18.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005901716942628 + 18.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005901716942628[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006929977680576 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006929977680576[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389336642221 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007389336642221[0m ×2 + 18.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005451277468015 + 18.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005451277468015[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680746989850 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004680746989850[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460781313957 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004460781313957[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784016377788 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005784016377788[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006582779405537 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006582779405537[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018395365580 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018395365580[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008017618241189 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008017618241189[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006269495369251 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006269495369251[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006646976178133 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006646976178133[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006847401096560 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006847401096560[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385287062238 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005385287062238[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369986442880 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006369986442880[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006594792038832 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006594792038832[0m ×2 + 18.96sWARNcontroller_managerOverrun might occur, Total time : 1774.659 us (Expected < 1666.667 us) --> Read time : 763.787 us, Update time : 73.101 us, Write time : 937.771 us + 18.97sWARNros2_control_nodeOverrun might occur, Total time : 1774.659 us (Expected < 1666.667 us) --> Read time : 763.787 us, Update time : 73.101 us, Write time : 937.771 us[0m ×2 + 18.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695358072916 + 18.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004695358072916[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269085752220 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269085752220[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917399226351 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004917399226351[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941759580193 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005941759580193[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007720427535701 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007720427535701[0m ×2 + 19.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510546 ms (missed cycles : 3). + 19.65sERRORobjective_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. ×6 + 19.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510546 ms (missed cycles : 3).[0m ×2 + 20.27sWARNcontroller_managerOverrun might occur, Total time : 5368.715 us (Expected < 1666.667 us) --> Read time : 261.486 us, Update time : 4609.109 us, Write time : 498.120 us + 20.28sWARNros2_control_nodeOverrun might occur, Total time : 5368.715 us (Expected < 1666.667 us) --> Read time : 261.486 us, Update time : 4609.109 us, Write time : 498.120 us[0m ×2 + 20.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444205 ms (missed cycles : 2). + 20.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.444205 ms (missed cycles : 2).[0m ×2 + 21.33sWARNcontroller_managerOverrun might occur, Total time : 2912.751 us (Expected < 1666.667 us) --> Read time : 149.183 us, Update time : 2210.137 us, Write time : 553.431 us + 21.33sWARNros2_control_nodeOverrun might occur, Total time : 2912.751 us (Expected < 1666.667 us) --> Read time : 149.183 us, Update time : 2210.137 us, Write time : 553.431 us[0m ×2 + 21.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674492 ms (missed cycles : 4). + 21.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.674492 ms (missed cycles : 4).[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128385307202 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000128385307202[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974239180229 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003974239180229[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393108267451 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002393108267451[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329038366799 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001329038366799[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272798076240 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000272798076240[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000498008335192 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000498008335192[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123216694544 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123216694544[0m ×2 + 22.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093635184893 + 22.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002093635184893[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281653429287 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001281653429287[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007520788881545 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007520788881545[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061527299726 + 22.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004061527299726[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708190420551 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708190420551[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169796480713 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000169796480713[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000427979677582 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000427979677582[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090339476261 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090339476261[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640829212074 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001640829212074[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074816586771 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001074816586771[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000799044739748 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000799044739748[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474920313710 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000474920313710[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006667459279064 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006667459279064[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731404551964 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003731404551964[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951253392695 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001951253392695[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000784676618461 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000784676618461[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000553354952538 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000553354952538[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035935661575126 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035935661575126[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025280513262110 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025280513262110[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013902381214645 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013902381214645[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014571255120533 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014571255120533[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022237649721230 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022237649721230[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024520083306791 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024520083306791[0m ×2 + 22.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016785260292094 + 22.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016785260292094[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015492004278111 + 22.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015492004278111[0m ×2 + 22.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863432156912 ×2 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863432156912[0m ×4 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288625260964 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288625260964[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011895487049770 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011895487049770[0m ×2 + 22.33sWARNcontroller_managerOverrun might occur, Total time : 1820.099 us (Expected < 1666.667 us) --> Read time : 281.336 us, Update time : 1039.682 us, Write time : 499.081 us + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016585502089285 + 22.33sWARNros2_control_nodeOverrun might occur, Total time : 1820.099 us (Expected < 1666.667 us) --> Read time : 281.336 us, Update time : 1039.682 us, Write time : 499.081 us[0m ×2 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016585502089285[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596095376543 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003596095376543[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017936628128347 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017936628128347[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010396078405974 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010396078405974[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010440639421193 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010440639421193[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082585007670 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005082585007670[0m ×2 + 22.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028164993060605 + 22.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028164993060605[0m ×2 + 22.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016294553323776 + 22.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016294553323776[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015371074581722 + 22.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015371074581722[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007384671083486 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007384671083486[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024949948987065 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024949948987065[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013545167612720 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013545167612720[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789831802343 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006789831802343[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001998625531231 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001998625531231[0m ×2 + 22.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051357450654 + 22.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051357450654[0m ×2 + 22.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016036602504213 + 22.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016036602504213[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258495475800 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008258495475800[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303493506618 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003303493506618[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028473394853365 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028473394853365[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015895018666262 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015895018666262[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028618555857252 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028618555857252[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020112902279995 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020112902279995[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020095056890328 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020095056890328[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018075047040337 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018075047040337[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015728725843313 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015728725843313[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038579968887114 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038579968887114[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040540995187484 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040540995187484[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023791210525434 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023791210525434[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021586238305020 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021586238305020[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010063898609963 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010063898609963[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970321819964 ×2 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002970321819964[0m ×4 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001089489263034 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001089489263034[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002777007147786 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002777007147786[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003529960172610 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003529960172610[0m ×2 + 22.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376783234662 + 22.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003376783234662[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337813021511 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006337813021511[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010504762045658 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010504762045658[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010460718902285 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010460718902285[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133691503339 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005133691503339[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080238359424 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005080238359424[0m ×2 + 22.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332279 ms (missed cycles : 2). + 22.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332279 ms (missed cycles : 2).[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006543805099457 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006543805099457[0m ×2 + 22.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339065627812 + 22.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000339065627812[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001421396519616 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001421396519616[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001441667156072 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001441667156072[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001228646126241 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001228646126241[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000982342502649 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000982342502649[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000884882247976 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000884882247976[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178605614063 + 22.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000178605614063[0m ×2 + 22.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204933944736 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204933944736[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000677729945133 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000677729945133[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656306160150 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000656306160150[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220824743512 + 22.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000220824743512[0m ×2 + 22.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070385591289 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000070385591289[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017823076707 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017823076707[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162417872160 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000162417872160[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161126305571 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000161126305571[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002223461550242 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002223461550242[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369323091430 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003369323091430[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655977652079 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002655977652079[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391920526188 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001391920526188[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000998924596362 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000998924596362[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118310182031 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000118310182031[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000266796550427 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000266796550427[0m ×2 + 23.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113358551093 + 23.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113358551093[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181771943518 + 23.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000181771943518[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793480276322 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004793480276322[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473818258733 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005473818258733[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132385825519 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005132385825519[0m ×2 + 23.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484523262401 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484523262401[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484472952418 + 23.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484472952418[0m ×2 + 23.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200159184438 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002200159184438[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759929571720 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000759929571720[0m ×2 + 23.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002167174904539 + 23.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002167174904539[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000830423783900 + 23.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000830423783900[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000830465168849 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000830465168849[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000561826862311 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000561826862311[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288631204346 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000288631204346[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000393490141268 ×2 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000393490141268[0m ×4 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258210887269 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000258210887269[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000509653530121 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000509653530121[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332065408191 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000332065408191[0m ×2 + 23.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200930401050 + 23.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000200930401050[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107376610034 + 23.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107376610034[0m ×2 + 23.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107152021738 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000107152021738[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044876025186 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000044876025186[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079634573297 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079634573297[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033391272422 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000033391272422[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004617555973 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004617555973[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010855987752 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010855987752[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018193313012 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000018193313012[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973922433132 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001973922433132[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961238741883 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001961238741883[0m ×2 + 23.35sWARNcontroller_managerOverrun might occur, Total time : 7978.660 us (Expected < 1666.667 us) --> Read time : 320.916 us, Update time : 6922.619 us, Write time : 735.125 us + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001181161471855 + 23.35sWARNros2_control_nodeOverrun might occur, Total time : 7978.660 us (Expected < 1666.667 us) --> Read time : 320.916 us, Update time : 6922.619 us, Write time : 735.125 us[0m ×2 + 23.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001181161471855[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000433398578944 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000433398578944[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083378877190 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083378877190[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048434760162 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048434760162[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230534156815 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000230534156815[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167880039736 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167880039736[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130119048309 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130119048309[0m ×2 + 23.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312294226961 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000312294226961[0m ×2 + 23.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197782270695 + 23.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000197782270695[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115770738311 ×2 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000115770738311[0m ×4 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097347546537 + 23.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097347546537[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155913930823 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000155913930823[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031838577762 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031838577762[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001652078443 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001652078443[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000337170583856 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000337170583856[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000324145800017 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000324145800017[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217836369788 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000217836369788[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139601817324 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000139601817324[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083741510770 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083741510770[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163104533748 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000163104533748[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709233500064 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709233500064[0m ×2 + 23.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709177717930 + 23.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000709177717930[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413011435676 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001413011435676[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816635247898 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000816635247898[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009819716278 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000009819716278[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069432096673 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069432096673[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126476382916 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126476382916[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832130175641 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001832130175641[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954738126452 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954738126452[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082021987446 ×2 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000082021987446[0m ×4 + 23.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131708136037 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000131708136037[0m ×2 + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302963920635 + 23.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000302963920635[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354808574457 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354808574457[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387560873964 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000387560873964[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292466712694 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000292466712694[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210000445995 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000210000445995[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000263576220786 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000263576220786[0m ×2 + 23.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013673 ms (missed cycles : 3). + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013673 ms (missed cycles : 3).[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102569478788 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102569478788[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000479808517 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000479808517[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094347138547 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094347138547[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047097669326 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000047097669326[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101562968892 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000101562968892[0m ×2 + 23.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295814124573 + 23.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000295814124573[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012632995531508 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012632995531508[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132830952014 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004132830952014[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879983233140 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001879983233140[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495663921246 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000495663921246[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000362186063483 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000362186063483[0m ×2 + 23.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000615303210496 + 23.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000615303210496[0m ×2 + 23.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350402014795 + 23.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350402014795[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656884356159 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001656884356159[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001909672700942 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001909672700942[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442693377862 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001442693377862[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150898818825 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150898818825[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797979122765 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003797979122765[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368306761134 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002368306761134[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931548682591 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002931548682591[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054506745426 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054506745426[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924268289442 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003924268289442[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442777418574 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003442777418574[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313412534130 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004313412534130[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073116284666 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000073116284666[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158209582435 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002158209582435[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052195083114 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002052195083114[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485749166603 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002485749166603[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001108557494963 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001108557494963[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239853411168 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000239853411168[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903729583425 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000903729583425[0m ×2 + 24.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000844811431185 + 24.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000844811431185[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532090610400 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000532090610400[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000628902455864 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000628902455864[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453682958946 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002453682958946[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746480058218 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001746480058218[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003253669804 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001003253669804[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005803234736 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001005803234736[0m ×2 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390395494713 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000390395494713[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732143778928 + 24.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002732143778928[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185917573533 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001185917573533[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721974057014 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002721974057014[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558966424068 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000558966424068[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014797425075 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002014797425075[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958788512001 + 24.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000958788512001[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580090780524 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580090780524[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750167709779 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003750167709779[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001986246326138 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001986246326138[0m ×2 + 24.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303923154342 + 24.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002303923154342[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002259395782172 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002259395782172[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007603754476758 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007603754476758[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480852517861 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004480852517861[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002087247559029 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002087247559029[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885549389917 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000885549389917[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006429572865515 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006429572865515[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288570583285 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003288570583285[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100649150817 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002100649150817[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000389589154875 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000389589154875[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000909051547595 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000909051547595[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719760253564 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719760253564[0m ×2 + 24.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719690821432 + 24.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000719690821432[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000690772915872 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000690772915872[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000450842247404 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000450842247404[0m ×2 + 24.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952833101940 + 24.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001952833101940[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273483979076 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001273483979076[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398685022795 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002398685022795[0m ×2 + 24.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113928297598 + 24.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004113928297598[0m ×2 + 24.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546677042186 + 24.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003546677042186[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848495699806 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003848495699806[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991786556733 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003991786556733[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119251820031 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002119251820031[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000836946895350 + 24.58sWARNcontroller_managerOverrun might occur, Total time : 4567.068 us (Expected < 1666.667 us) --> Read time : 223.355 us, Update time : 3708.110 us, Write time : 635.603 us + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000836946895350[0m ×2 + 24.58sWARNros2_control_nodeOverrun might occur, Total time : 4567.068 us (Expected < 1666.667 us) --> Read time : 223.355 us, Update time : 3708.110 us, Write time : 635.603 us[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006175504997 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006175504997[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000319478819826 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000319478819826[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000464510617953 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000464510617953[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973138104305 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000973138104305[0m ×2 + 24.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716229191452 + 24.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002716229191452[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269207954913 + 24.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003269207954913[0m ×2 + 24.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690354486751 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690354486751[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205660724991 + 24.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002205660724991[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503213609977 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002503213609977[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900946808152 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003900946808152[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105971650747 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105971650747[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646259383886 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002646259383886[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001610732232 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001610732232[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000287974835209 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000287974835209[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000261023088749 ×2 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000261023088749[0m ×4 + 24.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002099762709443 + 24.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002099762709443[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126140874904 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001126140874904[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109493207489 + 24.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003109493207489[0m ×2 + 24.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820725 ms (missed cycles : 2). + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820725 ms (missed cycles : 2).[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150751124141 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150751124141[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000871725336422 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000871725336422[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839903606595 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839903606595[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849195805502 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002849195805502[0m ×2 + 24.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419691225225 + 24.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003419691225225[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606006386810 + 24.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001606006386810[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498366505408 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002498366505408[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713530088196 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713530088196[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201846299096 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001201846299096[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802592687485 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001802592687485[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002162945675808 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002162945675808[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001569251770980 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001569251770980[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934786399536 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002934786399536[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982099940285 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002982099940285[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891185717907 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891185717907[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387758646667 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001387758646667[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712956731391 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003712956731391[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466860189976 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003466860189976[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364236691986 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002364236691986[0m ×2 + 24.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899800356570 + 24.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002899800356570[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557774344220 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002557774344220[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257260645597 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002257260645597[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618864235476 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002618864235476[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612985074740 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002612985074740[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810624426571 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002810624426571[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301036289520 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001301036289520[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002922822758539 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002922822758539[0m ×2 + 25.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878129658049 + 25.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003878129658049[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544581659225 + 25.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544581659225[0m ×2 + 25.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348014817081 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002348014817081[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907318823279 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002907318823279[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299355263435 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004299355263435[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653634179214 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004653634179214[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552577547133 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003552577547133[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623989909796 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001623989909796[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943843525973 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002943843525973[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789724863383 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003789724863383[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740779386763 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001740779386763[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244846413799 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002244846413799[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678111256751 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002678111256751[0m ×2 + 25.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888683476306 + 25.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002888683476306[0m ×2 + 25.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267256825576 + 25.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003267256825576[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044103604427 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004044103604427[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234519182046 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003234519182046[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937969043461 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002937969043461[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771894555722 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771894555722[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231644671722 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004231644671722[0m ×2 + 25.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365797557829 + 25.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365797557829[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812378159671 + 25.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002812378159671[0m ×2 + 25.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601127341289 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003601127341289[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953062995054 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002953062995054[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676741259810 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003676741259810[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784723027117 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003784723027117[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995800744474 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002995800744474[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680212097463 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003680212097463[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007394071328 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007394071328[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690598355507 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003690598355507[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051203957594 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051203957594[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760613207650 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003760613207650[0m ×2 + 25.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060116165993 + 25.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003060116165993[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733349872766 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003733349872766[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840066771676 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003840066771676[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086147151443 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003086147151443[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727608725495 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003727608725495[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955312705499 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002955312705499[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774768121142 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002774768121142[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450067150026 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003450067150026[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018825401353 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004018825401353[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241542842333 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241542842333[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833306788659 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833306788659[0m ×2 + 25.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027516644841 + 25.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004027516644841[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202369453697 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003202369453697[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774201891269 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003774201891269[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026150647190 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003026150647190[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661193468242 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661193468242[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916959933798 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002916959933798[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580395998471 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003580395998471[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020103735047 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004020103735047[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192642393775 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003192642393775[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757698700574 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003757698700574[0m ×2 + 25.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949242707054 + 25.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003949242707054[0m ×2 + 25.65sWARNcontroller_managerOverrun might occur, Total time : 2061.944 us (Expected < 1666.667 us) --> Read time : 207.504 us, Update time : 174.484 us, Write time : 1679.956 us + 25.65sWARNros2_control_nodeOverrun might occur, Total time : 2061.944 us (Expected < 1666.667 us) --> Read time : 207.504 us, Update time : 174.484 us, Write time : 1679.956 us[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004120652546 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004120652546[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754827079992 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002754827079992[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574331129191 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003574331129191[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983050711826 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002983050711826[0m ×2 + 25.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003696560223369 + 25.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003696560223369[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091674022915 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004091674022915[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732969374681 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004732969374681[0m ×2 + 25.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641743322176 + 25.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641743322176[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983179956255 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003983179956255[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003129247412187 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003129247412187[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662262554623 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003662262554623[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970360987814 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003970360987814[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024940918223 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004024940918223[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142323951104 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003142323951104[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660986152758 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003660986152758[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960173484668 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003960173484668[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097739338340 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003097739338340[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740351531116 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003740351531116[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963862022979 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002963862022979[0m ×2 + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605366 ms (missed cycles : 2). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605366 ms (missed cycles : 2).[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561371165545 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003561371165545[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839964372660 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002839964372660[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687197482998 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002687197482998[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497348323410 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003497348323410[0m ×2 + 25.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655695032821 + 25.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004655695032821[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004631127519680 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004631127519680[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472449537632 + 25.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002472449537632[0m ×2 + 25.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617658223548 + 25.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002617658223548[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473106227877 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003473106227877[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946034846154 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003946034846154[0m ×2 + 25.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184581023762 + 25.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184581023762[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315242510975 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005315242510975[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982031281998 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003982031281998[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102973294305 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102973294305[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150762959746 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004150762959746[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162997869533 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004162997869533[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259216356354 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004259216356354[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231494215379 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003231494215379[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618765747121 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003618765747121[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778241618916 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002778241618916[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210545019432 + 26.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002210545019432[0m ×2 + 26.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241898337892 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003241898337892[0m ×2 + 26.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804953885268 + 26.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003804953885268[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912071492098 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004912071492098[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749015152552 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004749015152552[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573735405078 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004573735405078[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416019765195 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004416019765195[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736108060700 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004736108060700[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479350704501 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004479350704501[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341890420646 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003341890420646[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628428683154 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003628428683154[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733107813392 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002733107813392[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350577988492 + 26.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003350577988492[0m ×2 + 26.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717613219523 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003717613219523[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800989334555 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004800989334555[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566606996466 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004566606996466[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380016596675 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004380016596675[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238346162652 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004238346162652[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330192884100 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004330192884100[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190803763651 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004190803763651[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877587680986 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002877587680986[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380189770141 + 26.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003380189770141[0m ×2 + 26.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683725282443 + 26.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683725282443[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858821179690 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003858821179690[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950670858335 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003950670858335[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990534807631 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003990534807631[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999912958189 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003999912958189[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993011291026 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993011291026[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978696090286 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003978696090286[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962104385652 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003962104385652[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945911216488 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003945911216488[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931268150924 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003931268150924[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918457395728 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003918457395728[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565330236305 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004565330236305[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004610019424666 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004610019424666[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249265523509 + 26.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004249265523509[0m ×2 + 26.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087404118894 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004087404118894[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995357647404 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995357647404[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935740774777 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003935740774777[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484702743675 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484702743675[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222408911280 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004222408911280[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048336662635 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004048336662635[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936593808718 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003936593808718[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867909456883 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867909456883[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410544029744 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004410544029744[0m ×2 + 26.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241673726888 + 26.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002241673726888[0m ×2 + 26.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692013640311 + 26.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692013640311[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340266805815 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004340266805815[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145957938231 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004145957938231[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013644146200 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004013644146200[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917894254862 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003917894254862[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896089583586 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004896089583586[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434502894118 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004434502894118[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125889799161 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004125889799161[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927686261226 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003927686261226[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806822562704 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003806822562704[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737546709872 + 26.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737546709872[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700691917700 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003700691917700[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662363772566 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004662363772566[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256453954216 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004256453954216[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993265477087 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003993265477087[0m ×2 + 26.65sWARNcontroller_managerOverrun might occur, Total time : 4303.223 us (Expected < 1666.667 us) --> Read time : 168.294 us, Update time : 3579.737 us, Write time : 555.192 us + 26.66sWARNros2_control_nodeOverrun might occur, Total time : 4303.223 us (Expected < 1666.667 us) --> Read time : 168.294 us, Update time : 3579.737 us, Write time : 555.192 us[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363514288700 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004363514288700[0m ×2 + 26.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284373905927 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284373905927[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403551755487 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004403551755487[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005508528295592 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005508528295592[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005586974619101 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005586974619101[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804138592868 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004804138592868[0m ×2 + 26.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272015 ms (missed cycles : 3). + 26.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272015 ms (missed cycles : 3).[0m ×2 + 27.68sWARNcontroller_managerOverrun might occur, Total time : 4213.991 us (Expected < 1666.667 us) --> Read time : 196.314 us, Update time : 3439.954 us, Write time : 577.723 us + 27.68sWARNros2_control_nodeOverrun might occur, Total time : 4213.991 us (Expected < 1666.667 us) --> Read time : 196.314 us, Update time : 3439.954 us, Write time : 577.723 us[0m ×2 + 27.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154067 ms (missed cycles : 2). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154067 ms (missed cycles : 2).[0m ×2 + 28.73sWARNcontroller_managerOverrun might occur, Total time : 2377.701 us (Expected < 1666.667 us) --> Read time : 238.505 us, Update time : 721.236 us, Write time : 1417.960 us + 28.73sWARNros2_control_nodeOverrun might occur, Total time : 2377.701 us (Expected < 1666.667 us) --> Read time : 238.505 us, Update time : 721.236 us, Write time : 1417.960 us[0m ×2 + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.947482 ms (missed cycles : 6). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.947482 ms (missed cycles : 6).[0m ×2 + 29.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011912034967818 + 29.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011912034967818[0m ×2 + 29.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041830401908586 + 29.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041830401908586[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017253509131588 + 29.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017253509131588[0m ×2 + 29.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044073509947307 + 29.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044073509947307[0m ×2 + 29.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015911628603226 + 29.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015911628603226[0m ×2 + 29.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044365636522521 + 29.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044365636522521[0m ×2 + 29.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043340091484249 ×2 + 29.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043340091484249[0m ×4 + 29.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016182855474266 + 29.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.016182855474266[0m ×2 + 29.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015914828436201 + 29.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015914828436201[0m ×2 + 29.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043553272901744 + 29.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043553272901744[0m ×2 + 29.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015961619634857 + 29.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015961619634857[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044166477547174 + 29.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044166477547174[0m ×2 + 29.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016097647084696 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016097647084696[0m ×2 + 29.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043694197021902 + 29.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043694197021902[0m ×2 + 29.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015857914256701 ×2 + 29.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015857914256701[0m ×4 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016142267406084 + 29.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016142267406084[0m ×2 + 29.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043739492651240 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043739492651240[0m ×2 + 29.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044077998364411 ×2 + 29.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044077998364411[0m ×4 + 29.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159151521469 + 29.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159151521469[0m ×2 + 29.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043751022355664 + 29.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043751022355664[0m ×2 + 29.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015835323781636 + 29.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015835323781636[0m ×2 + 29.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044068917877467 + 29.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044068917877467[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016162809531753 + 29.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016162809531753[0m ×2 + 29.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043753956947988 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043753956947988[0m ×2 + 29.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015835248952182 ×2 + 29.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015835248952182[0m ×4 + 29.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015833765790923 + 29.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015833765790923[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044090864135528 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044090864135528[0m ×2 + 29.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158994268639 + 29.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158994268639[0m ×2 + 29.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043771120121439 ×2 + 29.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043771120121439[0m ×4 + 29.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015838327337090 + 29.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015838327337090[0m ×2 + 29.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044098421332209 + 29.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044098421332209[0m ×2 + 29.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159104858050 + 29.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159104858050[0m ×2 + 29.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043777694780439 + 29.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043777694780439[0m ×2 + 29.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015841052255127 + 29.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015841052255127[0m ×2 + 29.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044107077769301 + 29.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044107077769301[0m ×2 + 29.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158801169287 + 29.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158801169287[0m ×2 + 29.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043789497151518 + 29.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043789497151518[0m ×2 + 29.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015845502310223 + 29.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015845502310223[0m ×2 + 29.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044110875144943 + 29.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044110875144943[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015851278178027 + 29.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015851278178027[0m ×2 + 29.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016150852584402 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016150852584402[0m ×2 + 29.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043813950270594 ×2 + 29.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043813950270594[0m ×4 + 29.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015848187411907 + 29.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015848187411907[0m ×2 + 29.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044120495388359 + 29.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044120495388359[0m ×2 + 29.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043810485344838 + 29.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043810485344838[0m ×2 + 29.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044116194039839 + 29.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044116194039839[0m ×2 + 29.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016157923111580 + 29.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016157923111580[0m ×2 + 29.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043835010606989 + 29.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043835010606989[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015863872405234 + 29.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015863872405234[0m ×2 + 29.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044142776139827 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044142776139827[0m ×2 + 29.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016162235066690 + 29.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016162235066690[0m ×2 + 29.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043839624651091 ×2 + 29.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043839624651091[0m ×4 + 29.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044136516832763 + 29.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044136516832763[0m ×2 + 29.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158575669974 + 29.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158575669974[0m ×2 + 29.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043860945820504 + 29.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043860945820504[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015874738020611 + 29.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015874738020611[0m ×2 + 29.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044157622023431 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044157622023431[0m ×2 + 29.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016164710362938 ×2 + 29.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016164710362938[0m ×4 + 29.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043872155163009 + 29.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043872155163009[0m ×2 + 29.81sWARNcontroller_managerOverrun might occur, Total time : 7281.267 us (Expected < 1666.667 us) --> Read time : 273.446 us, Update time : 3718.540 us, Write time : 3289.281 us + 29.81sWARNros2_control_nodeOverrun might occur, Total time : 7281.267 us (Expected < 1666.667 us) --> Read time : 273.446 us, Update time : 3718.540 us, Write time : 3289.281 us[0m ×2 + 29.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015884008283991 + 29.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015884008283991[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016156953045891 + 29.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016156953045891[0m ×2 + 29.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015881797495349 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015881797495349[0m ×2 + 29.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044171900122424 + 29.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044171900122424[0m ×2 + 29.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158985972301 ×2 + 29.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158985972301[0m ×4 + 29.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043901668161180 + 29.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043901668161180[0m ×2 + 29.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015887514951239 + 29.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015887514951239[0m ×2 + 29.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044181151041222 + 29.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044181151041222[0m ×2 + 29.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016161889622984 + 29.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016161889622984[0m ×2 + 29.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043917884240491 + 29.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043917884240491[0m ×2 + 29.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015892544858472 + 29.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015892544858472[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016160111259156 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016160111259156[0m ×2 + 29.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043935065057335 + 29.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043935065057335[0m ×2 + 29.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015899182279033 ×2 + 29.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015899182279033[0m ×4 + 29.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044199841358167 + 29.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044199841358167[0m ×2 + 29.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124220 ms (missed cycles : 2). + 29.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159975735698 + 29.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.124220 ms (missed cycles : 2).[0m ×2 + 29.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016159975735698[0m ×2 + 30.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043948596475960 + 30.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043948596475960[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016154763773406 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016154763773406[0m ×2 + 30.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043964419577417 + 30.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043964419577417[0m ×2 + 30.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015910099153001 + 30.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015910099153001[0m ×2 + 30.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044216815590849 + 30.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044216815590849[0m ×2 + 30.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158609295718 + 30.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016158609295718[0m ×2 + 30.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043983152496524 + 30.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.043983152496524[0m ×2 + 30.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015913800779710 + 30.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015913800779710[0m ×2 + 30.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044225832364635 + 30.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044225832364635[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016157627960480 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016157627960480[0m ×2 + 30.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044000077842159 + 30.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044000077842159[0m ×2 + 30.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015921450026955 ×2 + 30.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015921450026955[0m ×4 + 30.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044235671978221 + 30.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.044235671978221[0m ×2 + 30.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016154292801965 + 30.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016154292801965[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010201179933985 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010201179933985[0m ×2 + 30.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216052621338 + 30.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005216052621338[0m ×2 + 30.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439973835176 ×2 + 30.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002439973835176[0m ×4 + 30.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000639247918390 + 30.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000639247918390[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000794896032325 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000794896032325[0m ×2 + 30.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000689644033964 + 30.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000689644033964[0m ×2 + 30.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000551443095068 + 30.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000551443095068[0m ×2 + 30.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000415613102700 + 30.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000415613102700[0m ×2 + 30.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119211021476 + 30.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000119211021476[0m ×2 + 30.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034657028675376 + 30.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.034657028675376[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021042095928963 + 30.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021042095928963[0m ×2 + 30.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016446884872679 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016446884872679[0m ×2 + 30.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024626064141823 + 30.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024626064141823[0m ×2 + 30.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017547701656082 + 30.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017547701656082[0m ×2 + 30.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019953429264755 + 30.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019953429264755[0m ×2 + 30.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014124074019095 + 30.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014124074019095[0m ×2 + 30.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013922461134005 + 30.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013922461134005[0m ×2 + 30.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013554418795104 + 30.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013554418795104[0m ×2 + 30.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013127441425872 + 30.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013127441425872[0m ×2 + 30.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022603598533649 + 30.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022603598533649[0m ×2 + 30.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016885786714030 + 30.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016885786714030[0m ×2 + 30.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019274513558881 + 30.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019274513558881[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015152907917902 + 30.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015152907917902[0m ×2 + 30.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012290863108752 + 30.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012290863108752[0m ×2 + 30.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015151103044726 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015151103044726[0m ×2 + 30.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016254269975137 + 30.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016254269975137[0m ×2 + 30.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016304360842179 + 30.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016304360842179[0m ×2 + 30.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007754743887880 + 30.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007754743887880[0m ×2 + 30.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011163350628756 + 30.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011163350628756[0m ×2 + 30.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013066610552355 + 30.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013066610552355[0m ×2 + 30.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009340619082424 + 30.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009340619082424[0m ×2 + 30.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030450052146648 + 30.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030450052146648[0m ×2 + 30.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017135875068357 + 30.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017135875068357[0m ×2 + 30.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014643835145214 + 30.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014643835145214[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009824507857777 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009824507857777[0m ×2 + 30.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015094369301578 + 30.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015094369301578[0m ×2 + 30.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749725480719 + 30.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749725480719[0m ×2 + 30.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749733473108 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006749733473108[0m ×2 + 30.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839974415192 + 30.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004839974415192[0m ×2 + 30.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020436537306661 + 30.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020436537306661[0m ×2 + 30.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020200123883780 + 30.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020200123883780[0m ×2 + 30.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010546711820427 + 30.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010546711820427[0m ×2 + 30.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012794316397138 + 30.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012794316397138[0m ×2 + 30.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354111424302 + 30.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016354111424302[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021742430347014 + 30.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021742430347014[0m ×2 + 30.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014753454404100 + 30.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014753454404100[0m ×2 + 30.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008542476839310 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008542476839310[0m ×2 + 30.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014590726837111 + 30.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014590726837111[0m ×2 + 30.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012506298978305 + 30.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012506298978305[0m ×2 + 30.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015713569911034 + 30.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015713569911034[0m ×2 + 30.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016835810754352 + 30.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016835810754352[0m ×2 + 30.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181116614098 + 30.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003181116614098[0m ×2 + 30.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015656203224981 + 30.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015656203224981[0m ×2 + 30.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021634148108930 + 30.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021634148108930[0m ×2 + 30.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014703257900512 + 30.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014703257900512[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013006627451736 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013006627451736[0m ×2 + 30.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016606265985539 + 30.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016606265985539[0m ×2 + 30.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013092263772405 + 30.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013092263772405[0m ×2 + 30.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015880336779398 + 30.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015880336779398[0m ×2 + 30.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016254203228868 + 30.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016254203228868[0m ×2 + 30.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015508161187615 + 30.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015508161187615[0m ×2 + 30.85sWARNcontroller_managerOverrun might occur, Total time : 1882.070 us (Expected < 1666.667 us) --> Read time : 216.785 us, Update time : 56.831 us, Write time : 1608.454 us + 30.85sWARNros2_control_nodeOverrun might occur, Total time : 1882.070 us (Expected < 1666.667 us) --> Read time : 216.785 us, Update time : 56.831 us, Write time : 1608.454 us[0m ×2 + 30.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014926077575114 + 30.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014926077575114[0m ×2 + 30.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022179347983063 + 30.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022179347983063[0m ×2 + 30.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015751376229461 + 30.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015751376229461[0m ×2 + 30.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014468434606609 + 30.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014468434606609[0m ×2 + 30.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012591018829047 + 30.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012591018829047[0m ×2 + 30.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015120484421427 + 30.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015120484421427[0m ×2 + 30.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014424041857126 + 30.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014424041857126[0m ×2 + 30.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008109206288550 + 30.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008109206288550[0m ×2 + 30.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012108076855069 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012108076855069[0m ×2 + 30.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006663799773752 + 30.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006663799773752[0m ×2 + 30.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009409195425088 + 30.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009409195425088[0m ×2 + 30.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009659190374130 + 30.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009659190374130[0m ×2 + 30.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006457496441313 + 30.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006457496441313[0m ×2 + 31.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697163 ms (missed cycles : 3). + 31.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697163 ms (missed cycles : 3).[0m ×2 + 31.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890893024101 + 31.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890893024101[0m ×2 + 31.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043295570273 + 31.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000043295570273[0m ×2 + 31.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313223225336 + 31.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000313223225336[0m ×2 + 31.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004677612337 + 31.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000004677612337[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700619749730 + 31.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001700619749730[0m ×2 + 31.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001038977300474 + 31.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001038977300474[0m ×2 + 31.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739296718615 + 31.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001739296718615[0m ×2 + 31.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734024067064 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002734024067064[0m ×2 + 31.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205545410351 + 31.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003205545410351[0m ×2 + 31.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737955285948 + 31.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003737955285948[0m ×2 + 31.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464073938601 + 31.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002464073938601[0m ×2 + 31.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491888958402 + 31.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003491888958402[0m ×2 + 31.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762506659904 + 31.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002762506659904[0m ×2 + 31.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784771036762 + 31.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784771036762[0m ×2 + 31.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002103927910346 + 31.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002103927910346[0m ×2 + 31.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002807954988782 + 31.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002807954988782[0m ×2 + 31.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003155704057250 + 31.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003155704057250[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361216320397 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001361216320397[0m ×2 + 31.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310653665379 + 31.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002310653665379[0m ×2 + 31.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001653262083469 + 31.25sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.49% of iterations over budget over 3:10.007 of wall time (868/58393). Consistently above 1% means the model timestep should be raised.[0m ×2 + 31.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001653262083469[0m ×2 + 31.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822213059270 + 31.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003822213059270[0m ×2 + 31.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784366477094 + 31.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001784366477094[0m ×2 + 31.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255914853572 + 31.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000255914853572[0m ×2 + 31.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515635592266 + 31.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001515635592266[0m ×2 + 31.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086602398570 + 31.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001086602398570[0m ×2 + 31.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925167149520 + 31.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002925167149520[0m ×2 + 31.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887685718055 + 31.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003887685718055[0m ×2 + 31.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062370895893 + 31.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003062370895893[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525522923944 + 31.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001525522923944[0m ×2 + 31.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956229464749 + 31.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001956229464749[0m ×2 + 31.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090263343776 + 31.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001090263343776[0m ×2 + 31.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204306094510 + 31.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000204306094510[0m ×2 + 31.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456001614403 + 31.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000456001614403[0m ×2 + 31.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221423228153 + 31.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001221423228153[0m ×2 + 31.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041126324879 + 31.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002041126324879[0m ×2 + 31.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548747375008 + 31.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002548747375008[0m ×2 + 31.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846177832851 + 31.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002846177832851[0m ×2 + 31.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045575433433 + 31.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002045575433433[0m ×2 + 31.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789704848929 + 31.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001789704848929[0m ×2 + 31.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780978544618 + 31.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001780978544618[0m ×2 + 31.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445448046542 + 31.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002445448046542[0m ×2 + 31.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002887403474678 + 31.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002887403474678[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025098150405 + 31.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003025098150405[0m ×2 + 31.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452753409633 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452753409633[0m ×2 + 31.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004049636162 + 31.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004004049636162[0m ×2 + 31.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085410950803 + 31.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004085410950803[0m ×2 + 31.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867645907408 + 31.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001867645907408[0m ×2 + 31.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000493572190690 + 31.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000493572190690[0m ×2 + 31.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000265152829756 + 31.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000265152829756[0m ×2 + 31.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000658246485815 + 31.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000658246485815[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000796988352032 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000796988352032[0m ×2 + 31.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000787313240722 + 31.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000787313240722[0m ×2 + 31.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001410338742536 + 31.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001410338742536[0m ×2 + 31.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529829349474 + 31.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529829349474[0m ×2 + 31.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914511078755 + 31.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001914511078755[0m ×2 + 31.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002201024381335 + 31.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002201024381335[0m ×2 + 31.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875701426834 + 31.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002875701426834[0m ×2 + 31.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150588799447 + 31.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003150588799447[0m ×2 + 31.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236307652557 + 31.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003236307652557[0m ×2 + 31.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170356869746 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170356869746[0m ×2 + 31.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805265612284 + 31.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001805265612284[0m ×2 + 31.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001760515722956 + 31.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001760515722956[0m ×2 + 31.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002259889451120 + 31.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002259889451120[0m ×2 + 31.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765451755155 + 31.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002765451755155[0m ×2 + 31.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001287600429564 + 31.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001287600429564[0m ×2 + 31.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073858099720 + 31.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002073858099720[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697832159834 + 31.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002697832159834[0m ×2 + 31.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030228595353 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003030228595353[0m ×2 + 31.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467038302642 + 31.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001467038302642[0m ×2 + 31.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888313442500 + 31.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000888313442500[0m ×2 + 31.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000890284817953 + 31.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000890284817953[0m ×2 + 31.86sWARNcontroller_managerOverrun might occur, Total time : 3945.354 us (Expected < 1666.667 us) --> Read time : 226.065 us, Update time : 216.244 us, Write time : 3503.045 us + 31.86sWARNros2_control_nodeOverrun might occur, Total time : 3945.354 us (Expected < 1666.667 us) --> Read time : 226.065 us, Update time : 216.244 us, Write time : 3503.045 us[0m ×2 + 31.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001627252761164 + 31.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001627252761164[0m ×2 + 31.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000545027126548 + 31.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000545027126548[0m ×2 + 31.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083655666815 + 31.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000083655666815[0m ×2 + 31.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158068716862 + 31.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001158068716862[0m ×2 + 31.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638498232305 + 31.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002638498232305[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330196454032 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005330196454032[0m ×2 + 31.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929692303781 + 31.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929692303781[0m ×2 + 31.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929695993307 + 31.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004929695993307[0m ×2 + 31.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482984753578 + 31.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002482984753578[0m ×2 + 31.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365558143186 + 31.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001365558143186[0m ×2 + 31.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000314666765520 + 31.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000314666765520[0m ×2 + 31.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268963641850 + 31.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000268963641850[0m ×2 + 31.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885612109364 + 31.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000885612109364[0m ×2 + 32.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048115482402 + 32.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048115482402[0m ×2 + 32.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067017936292 + 32.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001067017936292[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395579237148 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000395579237148[0m ×2 + 32.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248738437894 + 32.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000248738437894[0m ×2 + 32.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002549609775561 + 32.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002549609775561[0m ×2 + 32.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915867 ms (missed cycles : 5). + 32.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610324723102 + 32.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.915867 ms (missed cycles : 5).[0m ×2 + 32.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002610324723102[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693163475506 + 32.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002693163475506[0m ×2 + 32.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435470144983 + 32.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000435470144983[0m ×2 + 32.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048922036481 + 32.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002048922036481[0m ×2 + 32.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021024328462 + 32.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002021024328462[0m ×2 + 32.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874582036381 + 32.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002874582036381[0m ×2 + 32.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836444945306 + 32.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001836444945306[0m ×2 + 32.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568481289982 + 32.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002568481289982[0m ×2 + 32.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938070248432 + 32.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002938070248432[0m ×2 + 32.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069362983893 + 32.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069362983893[0m ×2 + 32.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078294643569 + 32.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078294643569[0m ×2 + 32.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021395118741 + 32.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003021395118741[0m ×2 + 32.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001935315029549 + 32.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001935315029549[0m ×2 + 32.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400231132300 + 32.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002400231132300[0m ×2 + 32.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123239641547 + 32.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000123239641547[0m ×2 + 32.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000740741112834 + 32.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000740741112834[0m ×2 + 32.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001261221033473 + 32.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001261221033473[0m ×2 + 32.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002966124811 + 32.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003002966124811[0m ×2 + 32.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028710341366 + 32.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003028710341366[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160871164394 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004160871164394[0m ×2 + 32.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632505319820 + 32.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003632505319820[0m ×2 + 32.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256645113672 + 32.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003256645113672[0m ×2 + 32.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404135409672 + 32.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003404135409672[0m ×2 + 32.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054648620997 + 32.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003054648620997[0m ×2 + 32.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071784456963 + 32.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001071784456963[0m ×2 + 32.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017355401496 + 32.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002017355401496[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772722543577 + 32.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001772722543577[0m ×2 + 32.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722979013708 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004722979013708[0m ×2 + 32.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163762051252 + 32.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004163762051252[0m ×2 + 32.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664818745698 + 32.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664818745698[0m ×2 + 32.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320142485462 + 32.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003320142485462[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015831277245 + 32.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015831277245[0m ×2 + 32.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122733596958 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004122733596958[0m ×2 + 32.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664370935293 + 32.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003664370935293[0m ×2 + 32.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337503963074 + 32.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003337503963074[0m ×2 + 32.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821763125067 + 32.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821763125067[0m ×2 + 32.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365155968388 + 32.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003365155968388[0m ×2 + 32.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009787428807 + 32.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003009787428807[0m ×2 + 32.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388510062887 + 32.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003388510062887[0m ×2 + 32.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435287061403 + 32.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001435287061403[0m ×2 + 32.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278052079706 + 32.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002278052079706[0m ×2 + 32.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573087931836 + 32.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003573087931836[0m ×2 + 32.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035783606483 + 32.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003035783606483[0m ×2 + 32.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776542252136 + 32.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776542252136[0m ×2 + 32.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589736822546 + 32.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002589736822546[0m ×2 + 32.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081992373882 + 32.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004081992373882[0m ×2 + 32.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625531184234 + 32.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003625531184234[0m ×2 + 32.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297959497954 + 32.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003297959497954[0m ×2 + 32.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069769014108 + 32.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003069769014108[0m ×2 + 32.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946051788777 + 32.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002946051788777[0m ×2 + 32.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792870220794 + 32.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002792870220794[0m ×2 + 32.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713108604125 + 32.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713108604125[0m ×2 + 32.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688077306522 + 32.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688077306522[0m ×2 + 32.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988338104127 + 32.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003988338104127[0m ×2 + 32.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003454385089541 + 32.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003454385089541[0m ×2 + 32.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255850041470 + 32.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255850041470[0m ×2 + 32.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631231120660 + 32.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002631231120660[0m ×2 + 32.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484590046908 + 32.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002484590046908[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465198979416 + 32.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002465198979416[0m ×2 + 32.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502493385920 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002502493385920[0m ×2 + 32.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886809459063 + 32.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003886809459063[0m ×2 + 32.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395399656984 + 32.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003395399656984[0m ×2 + 32.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357957185574 + 32.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003357957185574[0m ×2 + 32.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085641929846 + 32.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003085641929846[0m ×2 + 32.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911200561234 + 32.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002911200561234[0m ×2 + 32.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814508531795 + 32.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002814508531795[0m ×2 + 32.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049099139486 + 32.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004049099139486[0m ×2 + 32.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003565290412385 + 32.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003565290412385[0m ×2 + 32.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422028645098 + 32.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002422028645098[0m ×2 + 32.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292903365084 + 32.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002292903365084[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535214119904 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535214119904[0m ×2 + 32.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344484648701 + 32.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344484648701[0m ×2 + 32.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078474756608 + 32.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003078474756608[0m ×2 + 32.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884543586922 + 32.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003884543586922[0m ×2 + 32.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387673143982 + 32.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003387673143982[0m ×2 + 32.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064677503807 + 32.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003064677503807[0m ×2 + 32.90sWARNcontroller_managerOverrun might occur, Total time : 1992.243 us (Expected < 1666.667 us) --> Read time : 228.295 us, Update time : 82.342 us, Write time : 1681.606 us + 32.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869237964537 + 32.90sWARNros2_control_nodeOverrun might occur, Total time : 1992.243 us (Expected < 1666.667 us) --> Read time : 228.295 us, Update time : 82.342 us, Write time : 1681.606 us[0m ×2 + 32.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002869237964537[0m ×2 + 32.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076814868030 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004076814868030[0m ×2 + 32.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439201091459 + 32.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003439201091459[0m ×2 + 32.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216866916494 + 32.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003216866916494[0m ×2 + 32.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003045326671761 + 32.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003045326671761[0m ×2 + 32.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673738131790 + 32.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002673738131790[0m ×2 + 32.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794458207645 + 32.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003794458207645[0m ×2 + 32.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003307646150586 + 32.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003307646150586[0m ×2 + 33.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004400086388 + 33.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003004400086388[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102442868177 + 33.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004102442868177[0m ×2 + 33.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467973053463 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003467973053463[0m ×2 + 33.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003065352492745 + 33.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003065352492745[0m ×2 + 33.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828762643935 + 33.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002828762643935[0m ×2 + 33.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621250036412 + 33.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003621250036412[0m ×2 + 33.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169933051393 + 33.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003169933051393[0m ×2 + 33.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891893708077 + 33.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002891893708077[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688394199713 + 33.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002688394199713[0m ×2 + 33.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347940887750 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004347940887750[0m ×2 + 33.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337924551777 + 33.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337924551777[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197405 ms (missed cycles : 4). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.197405 ms (missed cycles : 4).[0m ×2 + 33.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006796202905051 + 33.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006796202905051[0m ×2 + 33.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833384020453 + 33.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001833384020453[0m ×2 + 33.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236377668674 + 33.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000236377668674[0m ×2 + 33.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818100900141 + 33.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002818100900141[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692952705279 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002692952705279[0m ×2 + 33.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317922153942 + 33.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317922153942[0m ×2 + 33.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499365428120 + 33.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499365428120[0m ×2 + 33.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911245729003 + 33.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004911245729003[0m ×2 + 33.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265660356821 + 33.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003265660356821[0m ×2 + 33.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106138064066 + 33.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004106138064066[0m ×2 + 33.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646161117496 + 33.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004646161117496[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950152275140 + 33.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004950152275140[0m ×2 + 33.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907195825368 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003907195825368[0m ×2 + 33.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218491839962 + 33.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002218491839962[0m ×2 + 33.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847539895721 + 33.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002847539895721[0m ×2 + 33.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976015255910 + 33.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976015255910[0m ×2 + 33.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979832708420 + 33.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002979832708420[0m ×2 + 33.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184536243169 + 33.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184536243169[0m ×2 + 33.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585206236676 + 33.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004585206236676[0m ×2 + 33.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077444281737 + 33.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005077444281737[0m ×2 + 33.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005279485203523 + 33.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005279485203523[0m ×2 + 33.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139584674756 + 33.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004139584674756[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550809305819 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004550809305819[0m ×2 + 33.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729566826034 + 33.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729566826034[0m ×2 + 33.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090231992602 + 33.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003090231992602[0m ×2 + 33.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833212186121 + 33.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003833212186121[0m ×2 + 33.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578184185459 + 33.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578184185459[0m ×2 + 33.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007394892388 + 33.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003007394892388[0m ×2 + 33.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892495735636 + 33.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003892495735636[0m ×2 + 33.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489430880760 + 33.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004489430880760[0m ×2 + 33.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683759396109 + 33.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683759396109[0m ×2 + 33.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605341156947 + 33.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002605341156947[0m ×2 + 33.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354616936391 + 33.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003354616936391[0m ×2 + 33.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043180174059 + 33.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004043180174059[0m ×2 + 33.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391897399007 + 33.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003391897399007[0m ×2 + 33.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191028873709 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004191028873709[0m ×2 + 33.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632661355614 + 33.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004632661355614[0m ×2 + 33.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745756275930 + 33.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004745756275930[0m ×2 + 33.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003565435478715 + 33.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003565435478715[0m ×2 + 33.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227851463008 + 33.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004227851463008[0m ×2 + 33.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600705259079 + 33.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004600705259079[0m ×2 + 33.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452142337814 + 33.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003452142337814[0m ×2 + 33.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155557602516 + 33.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004155557602516[0m ×2 + 33.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054904109817 + 33.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002054904109817[0m ×2 + 33.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344313937821 + 33.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003344313937821[0m ×2 + 33.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896826706044 + 33.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002896826706044[0m ×2 + 33.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849245326348 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849245326348[0m ×2 + 33.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003248302318155 + 33.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003248302318155[0m ×2 + 33.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868279497116 + 33.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003868279497116[0m ×2 + 33.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149774699400 + 33.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005149774699400[0m ×2 + 33.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050457093849 + 33.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004050457093849[0m ×2 + 33.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776809518031 + 33.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002776809518031[0m ×2 + 33.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412182595651 + 33.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003412182595651[0m ×2 + 33.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010790592379 + 33.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004010790592379[0m ×2 + 33.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408198257715 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408198257715[0m ×2 + 33.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537821085100 + 33.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003537821085100[0m ×2 + 33.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359751513735 + 33.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002359751513735[0m ×2 + 33.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651000094865 + 33.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651000094865[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867543458406 + 33.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003867543458406[0m ×2 + 33.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594944790478 + 33.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004594944790478[0m ×2 + 34.10sWARNcontroller_managerOverrun might occur, Total time : 1941.492 us (Expected < 1666.667 us) --> Read time : 422.419 us, Update time : 105.753 us, Write time : 1413.320 us + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185618 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun might occur, Total time : 1941.492 us (Expected < 1666.667 us) --> Read time : 422.419 us, Update time : 105.753 us, Write time : 1413.320 us[0m ×2 + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.185618 ms (missed cycles : 2).[0m ×2 + 35.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961401 ms (missed cycles : 3). + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.961401 ms (missed cycles : 3).[0m ×2 + 35.33sWARNcontroller_managerOverrun might occur, Total time : 1894.681 us (Expected < 1666.667 us) --> Read time : 318.477 us, Update time : 99.442 us, Write time : 1476.762 us + 35.33sWARNros2_control_nodeOverrun might occur, Total time : 1894.681 us (Expected < 1666.667 us) --> Read time : 318.477 us, Update time : 99.442 us, Write time : 1476.762 us[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039227097539794 + 36.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.039227097539794[0m ×2 + 36.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006312116441868 + 36.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006312116441868[0m ×2 + 36.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.096473742236168 + 36.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.096473742236168[0m ×2 + 36.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049528605369089 + 36.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.049528605369089[0m ×2 + 36.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.117522817001224 + 36.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.117522817001224[0m ×2 + 36.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049223435273535 ×2 + 36.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.049223435273535[0m ×4 + 36.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032128058236728 + 36.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032128058236728[0m ×2 + 36.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010942197618679 + 36.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010942197618679[0m ×2 + 36.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076318842039084 + 36.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.076318842039084[0m ×2 + 36.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.044344186464238 ×2 + 36.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.044344186464238[0m ×4 + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371697 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371697 ms (missed cycles : 2).[0m ×2 + 36.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.590939799762076 + 36.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.590939799762076[0m ×2 + 36.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.799997745552041 + 36.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.799997745552041[0m ×2 + 36.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.433349072412319 + 36.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.433349072412319[0m ×2 + 36.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.319304675906025 + 36.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 19.319304675906025[0m ×2 + 36.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.349392433310321 + 36.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 17.349392433310321[0m ×2 + 36.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.500754205091082 ×2 + 36.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.500754205091082[0m ×4 + 36.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.737093331973981 + 36.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.737093331973981[0m ×2 + 36.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.439473132447837 + 36.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 10.439473132447837[0m ×2 + 36.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.495146031883635 + 36.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.495146031883635[0m ×2 + 36.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.138970007563831 ×2 + 36.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.138970007563831[0m ×4 + 36.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.233806553999431 + 36.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.233806553999431[0m ×2 + 36.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.985994425382296 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.985994425382296[0m ×2 + 36.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.757374714621128 + 36.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.757374714621128[0m ×2 + 36.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.480319175159547 + 36.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.480319175159547[0m ×2 + 36.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.294420561196622 + 36.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.294420561196622[0m ×2 + 36.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.339435636966747 + 36.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.339435636966747[0m ×2 + 36.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.639821927684995 + 36.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.639821927684995[0m ×2 + 36.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.074487402630661 + 36.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.074487402630661[0m ×2 + 36.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.649493851736125 + 36.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.649493851736125[0m ×2 + 36.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.371062061415046 + 36.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.371062061415046[0m ×2 + 36.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.894359931390838 + 36.41sWARNcontroller_managerOverrun might occur, Total time : 3476.904 us (Expected < 1666.667 us) --> Read time : 253.265 us, Update time : 94.612 us, Write time : 3129.027 us + 36.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.894359931390838[0m ×2 + 36.41sWARNros2_control_nodeOverrun might occur, Total time : 3476.904 us (Expected < 1666.667 us) --> Read time : 253.265 us, Update time : 94.612 us, Write time : 3129.027 us[0m ×2 + 36.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.504012566821487 + 36.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.504012566821487[0m ×2 + 36.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.846208485434433 + 36.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.846208485434433[0m ×2 + 36.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.146980711669793 + 36.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.146980711669793[0m ×2 + 36.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.339086905852284 + 36.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.339086905852284[0m ×2 + 36.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.245625527095013 + 36.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -15.245625527095013[0m ×2 + 36.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.440947701532981 + 36.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.440947701532981[0m ×2 + 36.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.802825749718238 + 36.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.802825749718238[0m ×2 + 36.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.257314464324224 + 36.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.257314464324224[0m ×2 + 36.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.675565472773059 + 36.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.675565472773059[0m ×2 + 36.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.465470020107940 + 36.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.465470020107940[0m ×2 + 36.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.805425648705981 + 36.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.805425648705981[0m ×2 + 36.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.530073503568570 + 36.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.530073503568570[0m ×2 + 36.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.837367957150242 + 36.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -28.837367957150242[0m ×2 + 36.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.341225457848974 + 36.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.341225457848974[0m ×2 + 36.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.635560847794167 + 36.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -33.635560847794167[0m ×2 + 36.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.899982398419972 + 36.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -32.899982398419972[0m ×2 + 36.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.346276268469254 + 36.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.346276268469254[0m ×2 + 36.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.888526625266913 + 36.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.888526625266913[0m ×2 + 36.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.277534200090940 + 36.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.277534200090940[0m ×2 + 36.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.866003985082977 + 36.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.866003985082977[0m ×2 + 36.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.398171097548474 + 36.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.398171097548474[0m ×2 + 36.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.137769024121123 + 36.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.137769024121123[0m ×2 + 36.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.882327811446772 + 36.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.882327811446772[0m ×2 + 36.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.661467843808719 + 36.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.661467843808719[0m ×2 + 36.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.122817093850220 + 36.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 8.122817093850220[0m ×2 + 36.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.881234866024604 ×2 + 36.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 11.881234866024604[0m ×4 + 36.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.299253213776492 + 36.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 15.299253213776492[0m ×2 + 36.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.264545500604015 + 36.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.264545500604015[0m ×2 + 36.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.043934542959608 + 36.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.043934542959608[0m ×2 + 36.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.822171387089316 + 36.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 23.822171387089316[0m ×2 + 36.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.674020697646277 + 36.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.674020697646277[0m ×2 + 36.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.572829537930254 ×2 + 36.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.572829537930254[0m ×4 + 36.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.990587961723303 + 36.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.990587961723303[0m ×2 + 36.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.396933145928205 + 36.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.396933145928205[0m ×2 + 36.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.647730429606774 + 36.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.647730429606774[0m ×2 + 36.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.100296831588004 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 36.100296831588004[0m ×2 + 36.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.569534049123149 + 36.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 37.569534049123149[0m ×2 + 36.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.973790535464190 + 36.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 35.973790535464190[0m ×2 + 36.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.364653452683321 + 36.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 34.364653452683321[0m ×2 + 36.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.494440743468658 + 36.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 32.494440743468658[0m ×2 + 36.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.353568824149221 + 36.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.353568824149221[0m ×2 + 36.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.353568824149249 + 36.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 30.353568824149249[0m ×2 + 36.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.521151573775786 + 36.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.521151573775786[0m ×2 + 36.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.024843925903347 + 36.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.024843925903347[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.191561886310055 + 36.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.191561886310055[0m ×2 + 36.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.223060037955544 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.223060037955544[0m ×2 + 36.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.136771644050292 + 36.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.136771644050292[0m ×2 + 36.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.774326610227825 + 36.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.774326610227825[0m ×2 + 37.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.511415505179980 + 37.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.511415505179980[0m ×2 + 37.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.984921466506124 ×2 + 37.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.984921466506124[0m ×4 + 37.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.615701516398784 + 37.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.615701516398784[0m ×2 + 37.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.916219309231401 ×2 + 37.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -6.916219309231401[0m ×4 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.778195206972139 + 37.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.778195206972139[0m ×2 + 37.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.483521567047777 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.483521567047777[0m ×2 + 37.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.205842796603985 + 37.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.205842796603985[0m ×2 + 37.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.106579201160955 + 37.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.106579201160955[0m ×2 + 37.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.710918018852922 ×2 + 37.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.710918018852922[0m ×4 + 37.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.501256430821140 + 37.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.501256430821140[0m ×2 + 37.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.479170009723454 + 37.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.479170009723454[0m ×2 + 37.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.942883893939477 + 37.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -19.942883893939477[0m ×2 + 37.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.965521987317938 + 37.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.965521987317938[0m ×2 + 37.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.281210222056693 + 37.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -26.281210222056693[0m ×2 + 37.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.879666099144810 + 37.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -27.879666099144810[0m ×2 + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508216 ms (missed cycles : 3). + 37.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.109589835067812 + 37.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.508216 ms (missed cycles : 3).[0m ×2 + 37.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -29.109589835067812[0m ×2 + 37.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.740501701210825 + 37.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -31.740501701210825[0m ×2 + 37.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.764754253198248 + 37.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -30.764754253198248[0m ×2 + 37.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.548434589555187 + 37.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.548434589555187[0m ×2 + 37.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.380796142918619 + 37.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.380796142918619[0m ×2 + 37.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.889498521722341 + 37.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.889498521722341[0m ×2 + 37.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.503741293455192 + 37.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.503741293455192[0m ×2 + 37.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.419539364351861 + 37.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.419539364351861[0m ×2 + 37.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.322050950408958 + 37.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -8.322050950408958[0m ×2 + 37.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.429567884252144 + 37.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.429567884252144[0m ×2 + 37.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.756490522712767 + 37.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -5.756490522712767[0m ×2 + 37.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.552832114474224 + 37.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -3.552832114474224[0m ×2 + 37.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.275659305369201 + 37.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.275659305369201[0m ×2 + 37.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.094201913634213 + 37.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.094201913634213[0m ×2 + 37.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.354121974024552 + 37.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 3.354121974024552[0m ×2 + 37.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.558551694142375 + 37.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.558551694142375[0m ×2 + 37.41sWARNcontroller_managerOverrun might occur, Total time : 10635.479 us (Expected < 1666.667 us) --> Read time : 253.656 us, Update time : 9739.070 us, Write time : 642.753 us + 37.42sWARNros2_control_nodeOverrun might occur, Total time : 10635.479 us (Expected < 1666.667 us) --> Read time : 253.656 us, Update time : 9739.070 us, Write time : 642.753 us[0m ×2 + 37.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.690505051126680 + 37.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.690505051126680[0m ×2 + 37.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487805823540917 + 37.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487805823540917[0m ×2 + 37.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.077668842429091 + 37.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.077668842429091[0m ×2 + 37.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.248043274909005 + 37.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.248043274909005[0m ×2 + 37.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.157034558176665 + 37.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.157034558176665[0m ×2 + 37.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.372242437668916 + 37.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.372242437668916[0m ×2 + 37.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.732773053469124 + 37.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.732773053469124[0m ×2 + 37.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.334020574758256 + 37.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.334020574758256[0m ×2 + 37.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.746765389723802 + 37.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.746765389723802[0m ×2 + 37.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.045945125030510 + 37.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.045945125030510[0m ×2 + 37.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.110338706536357 + 37.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.110338706536357[0m ×2 + 37.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.944354086948787 + 37.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.944354086948787[0m ×2 + 37.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120341968243602 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120341968243602[0m ×2 + 37.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.964287387860454 + 37.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.964287387860454[0m ×2 + 37.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.783580069434630 + 37.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.783580069434630[0m ×2 + 37.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.129054694112156 + 37.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.129054694112156[0m ×2 + 37.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.772405415891948 + 37.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.772405415891948[0m ×2 + 37.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.529081068659099 ×2 + 37.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.529081068659099[0m ×4 + 37.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.382810076428573 + 37.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.382810076428573[0m ×2 + 37.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.142369036580980 + 37.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.142369036580980[0m ×2 + 37.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.529685672778982 ×2 + 37.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.529685672778982[0m ×4 + 37.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.709386398538147 + 37.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.709386398538147[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.777943529616650 + 37.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.777943529616650[0m ×2 + 37.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.804264243437068 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.804264243437068[0m ×2 + 37.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.852600056621991 + 37.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.852600056621991[0m ×2 + 37.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.076131947292698 + 37.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.076131947292698[0m ×2 + 37.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.462353775559098 ×2 + 37.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.462353775559098[0m ×4 + 37.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.207191881389569 + 37.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.207191881389569[0m ×2 + 37.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.197965671550758 + 37.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.197965671550758[0m ×2 + 37.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.078440511652985 + 37.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.078440511652985[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.774012019767214 + 37.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.774012019767214[0m ×2 + 37.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.883578204366273 + 37.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.883578204366273[0m ×2 + 37.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.932792987660302 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.932792987660302[0m ×2 + 37.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.389629640235569 + 37.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.389629640235569[0m ×2 + 37.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100291219010136 + 37.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100291219010136[0m ×2 + 37.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.826292399768722 + 37.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.826292399768722[0m ×2 + 37.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.666236824891442 + 37.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.666236824891442[0m ×2 + 37.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.168638593468450 + 37.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.168638593468450[0m ×2 + 37.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.211808113679316 + 37.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.211808113679316[0m ×2 + 37.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.365502110248915 + 37.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.365502110248915[0m ×2 + 37.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.816748934230297 + 37.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.816748934230297[0m ×2 + 37.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.709613708823785 + 37.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.709613708823785[0m ×2 + 37.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.656486137161548 + 37.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.656486137161548[0m ×2 + 37.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.545211626910035 + 37.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.545211626910035[0m ×2 + 37.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.419116192085723 + 38.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.419116192085723[0m ×2 + 38.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.222536903587391 + 38.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.222536903587391[0m ×2 + 38.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.124651532143152 + 38.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.124651532143152[0m ×2 + 38.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081731456736213 + 38.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081731456736213[0m ×2 + 38.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004467624398089 + 38.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004467624398089[0m ×2 + 38.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038058961984655 + 38.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038058961984655[0m ×2 + 38.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.134688949232649 + 38.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.134688949232649[0m ×2 + 38.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135673474572616 + 38.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135673474572616[0m ×2 + 38.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.115717394775955 + 38.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.115717394775955[0m ×2 + 38.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.145429862293791 + 38.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.145429862293791[0m ×2 + 38.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.141019927750068 + 38.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.141019927750068[0m ×2 + 38.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877592 + 38.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877592[0m ×2 + 38.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877604 + 38.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877604[0m ×2 + 38.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234017805218931 + 38.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234017805218931[0m ×2 + 38.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.249551232436150 + 38.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.249551232436150[0m ×2 + 38.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.306706276899890 + 38.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.306706276899890[0m ×2 + 38.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701127 + 38.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701127[0m ×2 + 38.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701125 + 38.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701125[0m ×2 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205520 ms (missed cycles : 2). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205520 ms (missed cycles : 2).[0m ×2 + 38.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.397149484085613 + 38.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.397149484085613[0m ×2 + 38.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.739270180187461 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.739270180187461[0m ×2 + 38.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.525370465959146 + 38.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.525370465959146[0m ×2 + 38.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.721402965852330 + 38.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.721402965852330[0m ×2 + 38.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.069610058800884 + 38.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.069610058800884[0m ×2 + 38.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.502813564353421 + 38.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.502813564353421[0m ×2 + 38.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.864862716228314 + 38.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.864862716228314[0m ×2 + 38.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057655538756558 + 38.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057655538756558[0m ×2 + 38.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047886925122034 + 38.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047886925122034[0m ×2 + 38.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.037731796277835 + 38.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.037731796277835[0m ×2 + 38.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019661247390167 + 38.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019661247390167[0m ×2 + 38.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008664948512536 + 38.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008664948512536[0m ×2 + 38.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001883548012560 + 38.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001883548012560[0m ×2 + 38.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000803018535629 + 38.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000803018535629[0m ×2 + 38.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354045319110 + 38.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354045319110[0m ×2 + 38.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132284818808 + 38.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132284818808[0m ×2 + 38.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954056536485 + 38.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954056536485[0m ×2 + 38.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586053441965 + 38.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586053441965[0m ×2 + 38.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903456362709 + 38.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903456362709[0m ×2 + 38.50sWARNcontroller_managerOverrun might occur, Total time : 4947.847 us (Expected < 1666.667 us) --> Read time : 424.370 us, Update time : 95.412 us, Write time : 4428.065 us + 38.50sWARNros2_control_nodeOverrun might occur, Total time : 4947.847 us (Expected < 1666.667 us) --> Read time : 424.370 us, Update time : 95.412 us, Write time : 4428.065 us[0m ×2 + 38.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002125647119801 + 38.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002125647119801[0m ×2 + 38.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437153891831 + 38.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437153891831[0m ×2 + 38.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473516625590 + 38.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473516625590[0m ×2 + 38.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507705302769 + 38.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507705302769[0m ×2 + 38.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542791311511 + 38.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542791311511[0m ×2 + 38.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579540987444 + 38.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579540987444[0m ×2 + 38.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616551609508 + 38.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616551609508[0m ×2 + 38.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651192819412 + 38.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651192819412[0m ×2 + 38.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682107408642 + 38.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682107408642[0m ×2 + 38.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708307227820 + 38.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708307227820[0m ×2 + 38.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744221943274 + 38.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744221943274[0m ×2 + 38.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757426649697 + 38.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757426649697[0m ×2 + 38.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629937 + 38.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629937[0m ×2 + 38.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629936 + 38.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629936[0m ×2 + 38.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782703608941 + 38.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782703608941[0m ×2 + 38.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801821002092 + 38.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801821002092[0m ×2 + 38.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006113211896 + 38.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006113211896[0m ×2 + 38.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001470753323567 + 38.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001470753323567[0m ×2 + 38.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911198043486 + 38.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911198043486[0m ×2 + 38.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000568064778679 + 38.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000568064778679[0m ×2 + 38.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004346244289 + 38.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004346244289[0m ×2 + 38.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000763388818832 + 38.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000763388818832[0m ×2 + 38.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001666795416781 + 38.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001666795416781[0m ×2 + 38.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002405409164362 + 38.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002405409164362[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003479096677739 + 38.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003479096677739[0m ×2 + 38.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004656773458240 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004656773458240[0m ×2 + 38.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005787394143197 + 38.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005787394143197[0m ×2 + 38.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007701423872868 + 38.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007701423872868[0m ×2 + 38.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008067065378063 + 38.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008067065378063[0m ×2 + 38.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009870983671229 + 38.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009870983671229[0m ×2 + 38.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011798834667621 + 38.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011798834667621[0m ×2 + 38.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015172151271890 + 38.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015172151271890[0m ×2 + 38.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019274726156669 + 38.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019274726156669[0m ×2 + 38.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029645756620677 + 38.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029645756620677[0m ×2 + 38.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022934378330167 + 38.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022934378330167[0m ×2 + 38.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017300885796482 + 38.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017300885796482[0m ×2 + 38.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058266912781797 + 38.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058266912781797[0m ×2 + 38.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.091434312306263 + 38.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.091434312306263[0m ×2 + 38.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135584088010737 + 38.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135584088010737[0m ×2 + 38.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040644309775684 + 38.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040644309775684[0m ×2 + 39.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.077197541893179 + 39.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.077197541893179[0m ×2 + 39.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080643692474163 + 39.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080643692474163[0m ×2 + 39.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030357488311790 + 39.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030357488311790[0m ×2 + 39.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996134 + 39.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996134[0m ×2 + 39.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996124 + 39.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996124[0m ×2 + 39.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032333617966199 + 39.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032333617966199[0m ×2 + 39.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009720674260371 + 39.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009720674260371[0m ×2 + 39.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009395184785146 + 39.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009395184785146[0m ×2 + 39.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024712246417315 + 39.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024712246417315[0m ×2 + 39.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017785140886517 + 39.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017785140886517[0m ×2 + 39.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009607195001425 + 39.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009607195001425[0m ×2 + 39.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011905355922148 + 39.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011905355922148[0m ×2 + 39.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221904724117 + 39.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221904724117[0m ×2 + 39.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008510948893589 + 39.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008510948893589[0m ×2 + 39.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012971984180491 + 39.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012971984180491[0m ×2 + 39.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241491168851 + 39.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241491168851[0m ×2 + 39.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013028415657044 + 39.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013028415657044[0m ×2 + 39.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009978453424517 + 39.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009978453424517[0m ×2 + 39.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972545841672 + 39.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972545841672[0m ×2 + 39.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008922487430210 + 39.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008922487430210[0m ×2 + 39.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007453740039590 + 39.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007453740039590[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939649 ms (missed cycles : 3). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939649 ms (missed cycles : 3).[0m ×2 + 39.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271905713463 + 39.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271905713463[0m ×2 + 39.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001424944988932 + 39.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001424944988932[0m ×2 + 39.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362620673545 + 39.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362620673545[0m ×2 + 39.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006612984717123 + 39.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006612984717123[0m ×2 + 39.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830876891354 + 39.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830876891354[0m ×2 + 39.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680922480822 + 39.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680922480822[0m ×2 + 39.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003109948708136 + 39.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003109948708136[0m ×2 + 39.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636586049707 + 39.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636586049707[0m ×2 + 39.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008779801011821 + 39.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008779801011821[0m ×2 + 39.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524876360304 + 39.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524876360304[0m ×2 + 39.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915 + 39.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915[0m ×2 + 39.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625 + 39.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625[0m ×2 + 39.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507 + 39.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507[0m ×2 + 39.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429 + 39.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429[0m ×2 + 39.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559 + 39.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559[0m ×2 + 39.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379 + 39.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379[0m ×2 + 39.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048 + 39.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048[0m ×2 + 39.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811 + 39.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811[0m ×2 + 39.51sWARNcontroller_managerOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us + 39.51sWARNros2_control_nodeOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us[0m ×2 + 39.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284 + 39.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284[0m ×2 + 39.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431 + 39.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431[0m ×2 + 39.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478 + 39.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478[0m ×2 + 39.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378 + 39.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378[0m ×2 + 39.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553 + 39.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553[0m ×2 + 39.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048 + 39.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048[0m ×2 + 39.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877 + 39.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877[0m ×2 + 39.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785 + 39.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785[0m ×2 + 39.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381 + 39.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257 + 39.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257[0m ×2 + 39.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691[0m ×2 + 39.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693 + 39.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693[0m ×2 + 39.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812 + 39.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812[0m ×2 + 39.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949 + 39.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949[0m ×2 + 39.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330 + 39.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330[0m ×2 + 39.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871 + 39.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871[0m ×2 + 39.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361 + 39.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361[0m ×2 + 39.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695 + 39.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695[0m ×2 + 39.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660 + 39.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660[0m ×2 + 39.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958 + 39.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958[0m ×2 + 39.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498 + 39.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498[0m ×2 + 39.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115 + 39.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115[0m ×2 + 39.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309 + 39.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309[0m ×2 + 39.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097 + 39.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097[0m ×2 + 39.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890 + 39.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890[0m ×2 + 39.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585 + 39.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585[0m ×2 + 39.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637 + 39.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637[0m ×2 + 39.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706 + 39.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706[0m ×2 + 39.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641 + 39.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641[0m ×2 + 39.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886 + 39.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886[0m ×2 + 39.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827 + 39.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827[0m ×2 + 39.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846 + 39.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846[0m ×2 + 39.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669 + 39.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669[0m ×2 + 39.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907 + 39.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907[0m ×2 + 39.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478 + 39.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478[0m ×2 + 39.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034 + 39.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034[0m ×2 + 39.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695 + 39.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695[0m ×2 + 40.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145 + 40.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145[0m ×2 + 40.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815 + 40.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815[0m ×2 + 40.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056 + 40.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056[0m ×2 + 40.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411 + 40.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411[0m ×2 + 40.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728 + 40.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728[0m ×2 + 40.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691 + 40.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691[0m ×2 + 40.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144 + 40.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144[0m ×2 + 40.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342 + 40.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342[0m ×2 + 40.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583 + 40.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583[0m ×2 + 40.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873 + 40.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873[0m ×2 + 40.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856 + 40.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856[0m ×2 + 40.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663 + 40.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663[0m ×2 + 40.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863 + 40.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863[0m ×2 + 40.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153 + 40.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153[0m ×2 + 40.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212 + 40.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212[0m ×2 + 40.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800 + 40.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800[0m ×2 + 40.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073 + 40.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073[0m ×2 + 40.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073 + 40.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073[0m ×2 + 40.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474 + 40.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474[0m ×2 + 40.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877 + 40.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877[0m ×2 + 40.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231 + 40.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231[0m ×2 + 40.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451 + 40.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451[0m ×2 + 40.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367 + 40.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367[0m ×2 + 40.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159 + 40.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159[0m ×2 + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3). + 40.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3).[0m ×2 + 40.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031 + 40.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031[0m ×2 + 40.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191 + 40.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191[0m ×2 + 40.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539 + 40.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539[0m ×2 + 40.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526 + 40.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526[0m ×2 + 40.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024 + 40.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024[0m ×2 + 40.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894 + 40.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894[0m ×2 + 40.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733 + 40.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733[0m ×2 + 40.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835 + 40.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835[0m ×2 + 40.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769 + 40.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769[0m ×2 + 40.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884 + 40.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884[0m ×2 + 40.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974 + 40.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974[0m ×2 + 40.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983 + 40.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983[0m ×2 + 40.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489 + 40.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489[0m ×2 + 40.51sWARNcontroller_managerOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us + 40.51sWARNros2_control_nodeOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us[0m ×2 + 40.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675 + 40.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675[0m ×2 + 40.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688 + 40.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688[0m ×2 + 40.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530 + 40.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530[0m ×2 + 40.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237 + 40.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237[0m ×2 + 40.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909 + 40.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909[0m ×2 + 40.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606 + 40.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606[0m ×2 + 40.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810 + 40.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810[0m ×2 + 40.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475 + 40.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475[0m ×2 + 40.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592 + 40.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592[0m ×2 + 40.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918 + 40.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918[0m ×2 + 40.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640 + 40.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640[0m ×2 + 40.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178 + 40.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178[0m ×2 + 40.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302 + 40.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302[0m ×2 + 40.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791 + 40.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791[0m ×2 + 40.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211 + 40.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211[0m ×2 + 40.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374 + 40.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374[0m ×2 + 40.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474 + 40.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474[0m ×2 + 40.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268 + 40.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268[0m ×2 + 40.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000 + 40.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000[0m ×2 + 40.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217 + 40.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217[0m ×2 + 40.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952 + 40.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952[0m ×2 + 40.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511 + 40.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511[0m ×2 + 40.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838 + 40.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838[0m ×2 + 40.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371 + 40.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371[0m ×2 + 40.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233 + 40.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233[0m ×2 + 40.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667 + 40.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667[0m ×2 + 40.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670 + 40.86sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433589.25879073 seconds ×3 + 40.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4).[0m ×2 + 41.45sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433589.84896111 seconds. ×3 + 41.52sINFOobjective_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 + 41.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 41.52sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 41.52sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 41.52sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 41.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 41.52sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 41.52sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 41.52sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 41.61sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 41.61sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 41.64sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Received new action goal ×2 + 41.64sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Accepted new action goal ×2 + 41.67sWARNcontroller_managerOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us + 41.67sWARNros2_control_nodeOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us[0m ×2 + 42.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4). + 42.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4).[0m ×2 + 42.89sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433591.29514551 seconds ×3 + 42.91sWARNcontroller_managerOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us + 42.92sWARNros2_control_nodeOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us[0m ×2 + 43.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6). + 43.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6).[0m ×2 + 43.50sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780433591.90760827 seconds. ×3 + 43.66sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 43.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 43.68sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Received new action goal ×2 + 43.68sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Accepted new action goal ×2 + 43.98sWARNcontroller_managerOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us + 43.99sWARNros2_control_nodeOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us[0m ×2 | ||||
| ✓ passed | Pick 1 Pill Bottle with SAM3 | pick_1_pill_bottle_with_sam3.xml | 31.7s | 210 warnings · 2425 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 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 2049.624 us (Expected < 1666.667 us) --> Read time : 294.057 us, Update time : 771.986 us, Write time : 983.581 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 2049.624 us (Expected < 1666.667 us) --> Read time : 294.057 us, Update time : 771.986 us, Write time : 983.581 us[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580371 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580371 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2301.819 us (Expected < 1666.667 us) --> Read time : 169.333 us, Update time : 1616.885 us, Write time : 515.601 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2301.819 us (Expected < 1666.667 us) --> Read time : 169.333 us, Update time : 1616.885 us, Write time : 515.601 us[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847199 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847199 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun might occur, Total time : 7051.691 us (Expected < 1666.667 us) --> Read time : 325.877 us, Update time : 6121.501 us, Write time : 604.313 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 7051.691 us (Expected < 1666.667 us) --> Read time : 325.877 us, Update time : 6121.501 us, Write time : 604.313 us[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298397 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298397 ms (missed cycles : 2).[0m ×2 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 1985.612 us (Expected < 1666.667 us) --> Read time : 493.440 us, Update time : 145.863 us, Write time : 1346.309 us + 3.36sWARNros2_control_nodeOverrun might occur, Total time : 1985.612 us (Expected < 1666.667 us) --> Read time : 493.440 us, Update time : 145.863 us, Write time : 1346.309 us[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110884 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110884 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780433621.87589836 seconds ×3 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780433622.52652359 seconds. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911389 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911389 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2089.985 us (Expected < 1666.667 us) --> Read time : 165.733 us, Update time : 1491.252 us, Write time : 433.000 us + 4.46sWARNros2_control_nodeOverrun might occur, Total time : 2089.985 us (Expected < 1666.667 us) --> Read time : 165.733 us, Update time : 1491.252 us, Write time : 433.000 us[0m ×2 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOcontroller_managerSuccessfully switched controllers! + 5.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.30sINFOobjective_server_nodeFound path in 6 iterations (0.00502663 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.37sINFOros2_control_node[2026-06-02 20:53:43.772] [info] Received new action goal ×2 + 5.37sINFOros2_control_node[2026-06-02 20:53:43.772] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun might occur, Total time : 4183.110 us (Expected < 1666.667 us) --> Read time : 171.674 us, Update time : 3531.455 us, Write time : 479.981 us + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394136 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun might occur, Total time : 4183.110 us (Expected < 1666.667 us) --> Read time : 171.674 us, Update time : 3531.455 us, Write time : 479.981 us[0m ×2 + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394136 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun might occur, Total time : 4518.096 us (Expected < 1666.667 us) --> Read time : 206.614 us, Update time : 3692.429 us, Write time : 619.053 us + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752496 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun might occur, Total time : 4518.096 us (Expected < 1666.667 us) --> Read time : 206.614 us, Update time : 3692.429 us, Write time : 619.053 us[0m ×2 + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752496 ms (missed cycles : 3).[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.311717 ms (missed cycles : 7). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.311717 ms (missed cycles : 7).[0m ×2 + 7.64sWARNcontroller_managerOverrun might occur, Total time : 2318.959 us (Expected < 1666.667 us) --> Read time : 235.485 us, Update time : 86.092 us, Write time : 1997.382 us + 7.64sWARNros2_control_nodeOverrun might occur, Total time : 2318.959 us (Expected < 1666.667 us) --> Read time : 235.485 us, Update time : 86.092 us, Write time : 1997.382 us[0m ×2 + 8.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590349 ms (missed cycles : 2). + 8.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590349 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun might occur, Total time : 2052.163 us (Expected < 1666.667 us) --> Read time : 211.664 us, Update time : 1138.574 us, Write time : 701.925 us + 8.69sWARNros2_control_nodeOverrun might occur, Total time : 2052.163 us (Expected < 1666.667 us) --> Read time : 211.664 us, Update time : 1138.574 us, Write time : 701.925 us[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209883 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.209883 ms (missed cycles : 3).[0m ×2 + 10.44sWARNcontroller_managerOverrun might occur, Total time : 2470.083 us (Expected < 1666.667 us) --> Read time : 178.164 us, Update time : 1821.069 us, Write time : 470.850 us + 10.44sWARNros2_control_nodeOverrun might occur, Total time : 2470.083 us (Expected < 1666.667 us) --> Read time : 178.164 us, Update time : 1821.069 us, Write time : 470.850 us[0m ×2 + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027224 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.027224 ms (missed cycles : 2).[0m ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002597 ms (missed cycles : 2). + 11.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002597 ms (missed cycles : 2).[0m ×2 + 11.70sWARNcontroller_managerOverrun might occur, Total time : 1892.720 us (Expected < 1666.667 us) --> Read time : 365.688 us, Update time : 1042.052 us, Write time : 484.980 us + 11.70sWARNros2_control_nodeOverrun might occur, Total time : 1892.720 us (Expected < 1666.667 us) --> Read time : 365.688 us, Update time : 1042.052 us, Write time : 484.980 us[0m ×2 + 12.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237912 ms (missed cycles : 5). + 12.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.237912 ms (missed cycles : 5).[0m ×2 + 12.80sWARNcontroller_managerOverrun might occur, Total time : 2800.920 us (Expected < 1666.667 us) --> Read time : 186.784 us, Update time : 60.281 us, Write time : 2553.855 us + 12.81sWARNros2_control_nodeOverrun might occur, Total time : 2800.920 us (Expected < 1666.667 us) --> Read time : 186.784 us, Update time : 60.281 us, Write time : 2553.855 us[0m ×2 + 13.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.640704 ms (missed cycles : 6). + 13.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.640704 ms (missed cycles : 6).[0m ×2 + 13.88sWARNcontroller_managerOverrun might occur, Total time : 2117.215 us (Expected < 1666.667 us) --> Read time : 206.164 us, Update time : 80.402 us, Write time : 1830.649 us + 13.88sWARNros2_control_nodeOverrun might occur, Total time : 2117.215 us (Expected < 1666.667 us) --> Read time : 206.164 us, Update time : 80.402 us, Write time : 1830.649 us[0m ×2 + 14.60sINFOobjective_server_node[0;m[0;93m2026-06-02 20:53:53.005439718 [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 + 14.61sINFOobjective_server_node[0;93m2026-06-02 20:53:53.005486789 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 14.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226695 ms (missed cycles : 4). + 14.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.226695 ms (missed cycles : 4).[0m ×2 + 15.01sWARNcontroller_managerOverrun might occur, Total time : 2068.904 us (Expected < 1666.667 us) --> Read time : 317.326 us, Update time : 116.173 us, Write time : 1635.405 us + 15.01sWARNros2_control_nodeOverrun might occur, Total time : 2068.904 us (Expected < 1666.667 us) --> Read time : 317.326 us, Update time : 116.173 us, Write time : 1635.405 us[0m ×2 + 15.12sINFOobjective_server_node[0;93m2026-06-02 20:53:53.524328943 [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 + 15.12sINFOobjective_server_node[0;93m2026-06-02 20:53:53.524372334 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.25sINFOobjective_server_node[0;93m2026-06-02 20:53:53.646879657 [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 + 15.25sINFOobjective_server_node[0;93m2026-06-02 20:53:53.649902252 [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 + 15.25sINFOobjective_server_node[0;93m2026-06-02 20:53:53.649931023 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.56sINFOobjective_server_node[0;93m2026-06-02 20:53:53.956746619 [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 + 15.57sINFOobjective_server_node[0;93m2026-06-02 20:53:53.971002634 [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 + 15.57sINFOobjective_server_node[0;93m2026-06-02 20:53:53.971040405 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 15.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535900 ms (missed cycles : 7). + 15.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.535900 ms (missed cycles : 7).[0m ×2 + 16.11sWARNcontroller_managerOverrun might occur, Total time : 2089.445 us (Expected < 1666.667 us) --> Read time : 222.285 us, Update time : 801.137 us, Write time : 1066.023 us + 16.11sWARNros2_control_nodeOverrun might occur, Total time : 2089.445 us (Expected < 1666.667 us) --> Read time : 222.285 us, Update time : 801.137 us, Write time : 1066.023 us[0m ×2 + 16.63sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905995 ms (missed cycles : 2). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905995 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun might occur, Total time : 1815.889 us (Expected < 1666.667 us) --> Read time : 219.525 us, Update time : 1113.134 us, Write time : 483.230 us + 17.19sWARNros2_control_nodeOverrun might occur, Total time : 1815.889 us (Expected < 1666.667 us) --> Read time : 219.525 us, Update time : 1113.134 us, Write time : 483.230 us[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773093 ms (missed cycles : 2). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.773093 ms (missed cycles : 2).[0m ×2 + 18.20sWARNcontroller_managerOverrun might occur, Total time : 3317.031 us (Expected < 1666.667 us) --> Read time : 189.024 us, Update time : 2471.413 us, Write time : 656.594 us + 18.20sWARNros2_control_nodeOverrun might occur, Total time : 3317.031 us (Expected < 1666.667 us) --> Read time : 189.024 us, Update time : 2471.413 us, Write time : 656.594 us[0m ×2 + 18.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021809 ms (missed cycles : 5). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.021809 ms (missed cycles : 5).[0m ×2 + 19.56sWARNcontroller_managerOverrun might occur, Total time : 2737.909 us (Expected < 1666.667 us) --> Read time : 2304.400 us, Update time : 70.291 us, Write time : 363.218 us + 19.57sWARNros2_control_nodeOverrun might occur, Total time : 2737.909 us (Expected < 1666.667 us) --> Read time : 2304.400 us, Update time : 70.291 us, Write time : 363.218 us[0m ×2 + 19.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883430 ms (missed cycles : 2). + 19.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883430 ms (missed cycles : 2).[0m ×2 + 20.41sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 20.75sINFOobjective_server_nodeFound path in 4 iterations (0.00270198 s). ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065307 ms (missed cycles : 3). + 20.81sINFOobjective_server_nodePath shortcutter: [X______________________________________________X____________________X] ×2 + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065307 ms (missed cycles : 3).[0m ×2 + 20.84sINFOobjective_server_nodeFound path in 12 iterations (0.00385437 s). ×2 + 20.90sINFOobjective_server_nodePath shortcutter: [X________________________________________________X__________________X] ×2 + 20.93sINFOobjective_server_nodeFound path in 2 iterations (0.00340894 s). ×2 + 20.96sINFOobjective_server_nodePath shortcutter: [X______________________________X__________________X] ×2 + 20.98sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×4 + 21.01sINFOobjective_server_nodePath shortcutter: [X____________________________________X] ×2 + 21.02sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×4 + 21.05sINFOobjective_server_nodePath shortcutter: [X_____________________________________X] ×2 + 21.07sINFOobjective_server_nodeFound path in 12 iterations (0.00450405 s). ×2 + 21.12sINFOobjective_server_nodePath shortcutter: [X__________________________________________X______________________X] ×2 + 21.14sINFOobjective_server_nodeFound path in 2 iterations (0.00370213 s). ×2 + 21.17sINFOobjective_server_nodePath shortcutter: [X_____________________________X____________________X] ×2 + 21.19sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 21.22sINFOobjective_server_nodePath shortcutter: [X________________________________________X] ×2 + 21.26sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.46% of iterations over budget over 4:10.010 of wall time (1120/76814). Consistently above 1% means the model timestep should be raised.[0m ×2 + 21.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________X] ×2 + 21.29sINFOobjective_server_nodeFound path in 4 iterations (0.00406787 s). ×2 + 21.36sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________X______________X] ×2 + 21.38sINFOobjective_server_nodeFound path in 4 iterations (0.00252021 s). ×2 + 21.45sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________X______________________X] ×2 + 21.47sINFOobjective_server_nodeFound path in 1 iterations (0.0042565 s). ×2 + 21.52sINFOobjective_server_nodePath shortcutter: [X___________________________________X_____________________________X] ×2 + 21.54sINFOobjective_server_nodeFound path in 1 iterations (0.00235193 s). ×2 + 21.60sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________X________________________X] ×2 + 21.63sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 21.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________X] ×2 + 21.77sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X] ×2 + 21.79sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 21.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598371 ms (missed cycles : 6). + 21.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.598371 ms (missed cycles : 6).[0m ×2 + 21.92sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________________________X] ×2 + 22.05sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 22.06sINFOros2_control_node[2026-06-02 20:54:00.465] [info] Received new action goal ×2 + 22.06sINFOros2_control_node[2026-06-02 20:54:00.465] [info] Accepted new action goal ×2 + 22.12sWARNcontroller_managerOverrun might occur, Total time : 8005.441 us (Expected < 1666.667 us) --> Read time : 7316.247 us, Update time : 101.002 us, Write time : 588.192 us + 22.13sWARNros2_control_nodeOverrun might occur, Total time : 8005.441 us (Expected < 1666.667 us) --> Read time : 7316.247 us, Update time : 101.002 us, Write time : 588.192 us[0m ×2 + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643760 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643760 ms (missed cycles : 2).[0m ×2 + 23.34sWARNcontroller_managerOverrun might occur, Total time : 7586.862 us (Expected < 1666.667 us) --> Read time : 197.744 us, Update time : 6810.366 us, Write time : 578.752 us + 23.34sWARNros2_control_nodeOverrun might occur, Total time : 7586.862 us (Expected < 1666.667 us) --> Read time : 197.744 us, Update time : 6810.366 us, Write time : 578.752 us[0m ×2 + 23.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708105 ms (missed cycles : 3). + 23.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708105 ms (missed cycles : 3).[0m ×2 + 24.56sWARNcontroller_managerOverrun might occur, Total time : 1679.876 us (Expected < 1666.667 us) --> Read time : 315.707 us, Update time : 514.231 us, Write time : 849.938 us + 24.56sWARNros2_control_nodeOverrun might occur, Total time : 1679.876 us (Expected < 1666.667 us) --> Read time : 315.707 us, Update time : 514.231 us, Write time : 849.938 us[0m ×2 + 24.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531084 ms (missed cycles : 5). + 24.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.531084 ms (missed cycles : 5).[0m ×2 + 25.95sWARNcontroller_managerOverrun might occur, Total time : 4188.320 us (Expected < 1666.667 us) --> Read time : 280.676 us, Update time : 212.465 us, Write time : 3695.179 us + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385789 ms (missed cycles : 3). + 25.95sWARNros2_control_nodeOverrun might occur, Total time : 4188.320 us (Expected < 1666.667 us) --> Read time : 280.676 us, Update time : 212.465 us, Write time : 3695.179 us[0m ×2 + 25.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385789 ms (missed cycles : 3).[0m ×2 + 26.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508772 ms (missed cycles : 4). + 26.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.508772 ms (missed cycles : 4).[0m ×2 + 27.07sINFOros2_control_node[2026-06-02 20:54:05.467] [info] Received new action goal ×2 + 27.07sINFOros2_control_node[2026-06-02 20:54:05.467] [info] Accepted new action goal ×2 + 27.16sWARNcontroller_managerOverrun might occur, Total time : 5854.645 us (Expected < 1666.667 us) --> Read time : 273.926 us, Update time : 5054.338 us, Write time : 526.381 us + 27.17sWARNros2_control_nodeOverrun might occur, Total time : 5854.645 us (Expected < 1666.667 us) --> Read time : 273.926 us, Update time : 5054.338 us, Write time : 526.381 us[0m ×2 + 28.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006150 ms (missed cycles : 5). + 28.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.006150 ms (missed cycles : 5).[0m ×2 + 28.32sWARNcontroller_managerOverrun might occur, Total time : 2001.143 us (Expected < 1666.667 us) --> Read time : 208.955 us, Update time : 1391.019 us, Write time : 401.169 us + 28.32sWARNros2_control_nodeOverrun might occur, Total time : 2001.143 us (Expected < 1666.667 us) --> Read time : 208.955 us, Update time : 1391.019 us, Write time : 401.169 us[0m ×2 + 28.65sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 28.66sINFOros2_control_node[2026-06-02 20:54:07.060] [info] Received new action goal ×2 + 28.66sINFOros2_control_node[2026-06-02 20:54:07.060] [info] Accepted new action goal ×2 + 29.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166106 ms (missed cycles : 2). + 29.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166106 ms (missed cycles : 2).[0m ×2 + 29.35sWARNcontroller_managerOverrun might occur, Total time : 3441.004 us (Expected < 1666.667 us) --> Read time : 231.105 us, Update time : 2709.728 us, Write time : 500.171 us + 29.35sWARNros2_control_nodeOverrun might occur, Total time : 3441.004 us (Expected < 1666.667 us) --> Read time : 231.105 us, Update time : 2709.728 us, Write time : 500.171 us[0m ×2 + 29.87sINFOobjective_server_nodePlanning for 4 path waypoints. ×3 + 29.91sINFOros2_control_node[2026-06-02 20:54:08.313] [info] Received new action goal ×2 + 29.91sINFOros2_control_node[2026-06-02 20:54:08.313] [info] Accepted new action goal ×2 + 30.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.527337 ms (missed cycles : 6). + 30.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.527337 ms (missed cycles : 6).[0m ×2 + 30.48sWARNcontroller_managerOverrun might occur, Total time : 2106.285 us (Expected < 1666.667 us) --> Read time : 189.394 us, Update time : 773.407 us, Write time : 1143.484 us + 30.48sWARNros2_control_nodeOverrun might occur, Total time : 2106.285 us (Expected < 1666.667 us) --> Read time : 189.394 us, Update time : 773.407 us, Write time : 1143.484 us[0m ×2 + 31.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547444 ms (missed cycles : 6). + 31.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.547444 ms (missed cycles : 6).[0m ×2 + 31.64sWARNcontroller_managerOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us + 31.65sWARNros2_control_nodeOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us[0m ×2 + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6).[0m ×2 + 33.01sWARNcontroller_managerOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us + 33.02sWARNros2_control_nodeOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us[0m ×2 + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3).[0m ×2 + 34.18sWARNcontroller_managerOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us + 34.18sWARNros2_control_nodeOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us[0m ×2 + 34.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2). + 34.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2).[0m ×2 + 35.13sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433653.53123808 seconds ×3 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3).[0m ×2 + 35.31sWARNcontroller_managerOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us + 35.31sWARNros2_control_nodeOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us[0m ×2 + 35.88sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433654.27858877 seconds. ×3 + 36.12sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 36.12sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 36.16sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Received new action goal ×2 + 36.16sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Accepted new action goal ×2 + 36.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2). + 36.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2).[0m ×2 + 36.45sWARNcontroller_managerOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us + 36.45sWARNros2_control_nodeOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us[0m ×2 + 37.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2). + 37.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2).[0m ×2 + 37.53sWARNcontroller_managerOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us + 37.53sWARNros2_control_nodeOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4). + 38.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | MPC Pose Tracking With Static Sphere Point Cloud Avoidance | mpc_pose_tracking_with_static_sphere_point_cloud_avoidance.xml | 30.6s | 3639 errors · 213 warnings · 8092 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×1926 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×3852 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3).[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670 + 1.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433589.25879073 seconds ×3 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670[0m ×2 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433589.84896111 seconds. ×3 + 2.11sINFOobjective_server_nodeThe following controllers are in conflict with the ones to activate. Since automatic deactivation is set, they will be deactivated: joint_trajectory_controller ×9 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×3 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×3 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×3 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×5 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×6 + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×6 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×6 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×10 + 2.20sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 2.20sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.22sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Received new action goal ×2 + 2.22sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us[0m ×2 + 2.29sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.34sINFOobjective_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 + 2.37sINFOobjective_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 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] ×2 + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] ×2 + 2.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×4 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4).[0m ×2 + 3.48sERRORobjective_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 + 3.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433591.29514551 seconds ×3 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us[0m ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780433591.90760827 seconds. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.27sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.868838 ms (missed cycles : 6). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.868838 ms (missed cycles : 6).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 3154.797 us (Expected < 1666.667 us) --> Read time : 236.315 us, Update time : 379.858 us, Write time : 2538.624 us + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 3154.797 us (Expected < 1666.667 us) --> Read time : 236.315 us, Update time : 379.858 us, Write time : 2538.624 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873296 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873296 ms (missed cycles : 5).[0m ×2 + 6.89sWARNcontroller_managerOverrun might occur, Total time : 1696.436 us (Expected < 1666.667 us) --> Read time : 248.955 us, Update time : 66.992 us, Write time : 1380.489 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1696.436 us (Expected < 1666.667 us) --> Read time : 248.955 us, Update time : 66.992 us, Write time : 1380.489 us[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516273 ms (missed cycles : 6). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.516273 ms (missed cycles : 6).[0m ×2 + 7.66sINFOobjective_server_nodePlanning for 2 path waypoints. ×6 + 7.68sINFOros2_control_node[2026-06-02 20:53:15.492] [info] Received new action goal ×2 + 7.68sINFOros2_control_node[2026-06-02 20:53:15.492] [info] Accepted new action goal ×2 + 7.90sWARNcontroller_managerOverrun might occur, Total time : 2770.939 us (Expected < 1666.667 us) --> Read time : 245.485 us, Update time : 1300.268 us, Write time : 1225.186 us + 7.90sWARNros2_control_nodeOverrun might occur, Total time : 2770.939 us (Expected < 1666.667 us) --> Read time : 245.485 us, Update time : 1300.268 us, Write time : 1225.186 us[0m ×2 + 8.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231521 ms (missed cycles : 3). + 8.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231521 ms (missed cycles : 3).[0m ×2 + 8.95sWARNcontroller_managerOverrun might occur, Total time : 10383.342 us (Expected < 1666.667 us) --> Read time : 425.399 us, Update time : 9354.310 us, Write time : 603.633 us + 8.95sWARNros2_control_nodeOverrun might occur, Total time : 10383.342 us (Expected < 1666.667 us) --> Read time : 425.399 us, Update time : 9354.310 us, Write time : 603.633 us[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.178257 ms (missed cycles : 7). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.178257 ms (missed cycles : 7).[0m ×2 + 10.12sWARNcontroller_managerOverrun might occur, Total time : 1879.890 us (Expected < 1666.667 us) --> Read time : 331.657 us, Update time : 63.111 us, Write time : 1485.122 us + 10.12sWARNros2_control_nodeOverrun might occur, Total time : 1879.890 us (Expected < 1666.667 us) --> Read time : 331.657 us, Update time : 63.111 us, Write time : 1485.122 us[0m ×2 + 10.13sINFOros2_control_node[2026-06-02 20:53:17.942] [info] Received new action goal ×2 + 10.13sINFOros2_control_node[2026-06-02 20:53:17.942] [info] Accepted new action goal ×2 + 10.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943893 ms (missed cycles : 2). + 10.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943893 ms (missed cycles : 2).[0m ×2 + 11.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722341 ms (missed cycles : 5). + 11.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722341 ms (missed cycles : 5).[0m ×2 + 11.64sWARNcontroller_managerOverrun might occur, Total time : 5737.973 us (Expected < 1666.667 us) --> Read time : 304.447 us, Update time : 4770.442 us, Write time : 663.084 us + 11.64sWARNros2_control_nodeOverrun might occur, Total time : 5737.973 us (Expected < 1666.667 us) --> Read time : 304.447 us, Update time : 4770.442 us, Write time : 663.084 us[0m ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643810 ms (missed cycles : 4). + 12.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.643810 ms (missed cycles : 4).[0m ×2 + 12.71sWARNcontroller_managerOverrun might occur, Total time : 3663.988 us (Expected < 1666.667 us) --> Read time : 213.004 us, Update time : 2789.970 us, Write time : 661.014 us + 12.71sWARNros2_control_nodeOverrun might occur, Total time : 3663.988 us (Expected < 1666.667 us) --> Read time : 213.004 us, Update time : 2789.970 us, Write time : 661.014 us[0m ×2 + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157482 ms (missed cycles : 4). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.157482 ms (missed cycles : 4).[0m ×2 + 14.04sWARNcontroller_managerOverrun might occur, Total time : 1737.448 us (Expected < 1666.667 us) --> Read time : 163.574 us, Update time : 436.129 us, Write time : 1137.745 us + 14.05sWARNros2_control_nodeOverrun might occur, Total time : 1737.448 us (Expected < 1666.667 us) --> Read time : 163.574 us, Update time : 436.129 us, Write time : 1137.745 us[0m ×2 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.172808 ms (missed cycles : 8). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.172808 ms (missed cycles : 8).[0m ×2 + 15.07sWARNcontroller_managerOverrun might occur, Total time : 3607.667 us (Expected < 1666.667 us) --> Read time : 277.396 us, Update time : 2760.509 us, Write time : 569.762 us + 15.07sWARNros2_control_nodeOverrun might occur, Total time : 3607.667 us (Expected < 1666.667 us) --> Read time : 277.396 us, Update time : 2760.509 us, Write time : 569.762 us[0m ×2 + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882854 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882854 ms (missed cycles : 2).[0m ×2 + 16.17sWARNcontroller_managerOverrun might occur, Total time : 2309.010 us (Expected < 1666.667 us) --> Read time : 309.117 us, Update time : 85.672 us, Write time : 1914.221 us + 16.17sWARNros2_control_nodeOverrun might occur, Total time : 2309.010 us (Expected < 1666.667 us) --> Read time : 309.117 us, Update time : 85.672 us, Write time : 1914.221 us[0m ×2 + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828014 ms (missed cycles : 2). + 16.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828014 ms (missed cycles : 2).[0m ×2 + 16.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529773840304 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001529773840304[0m ×2 + 16.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305268938678 + 16.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001305268938678[0m ×2 + 16.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000928959336814 + 16.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000928959336814[0m ×2 + 16.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000343710037283 + 16.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000343710037283[0m ×2 + 16.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000326275979644 + 16.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000326275979644[0m ×2 + 16.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022715229413 + 16.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000022715229413[0m ×2 + 16.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035082744187 ×2 + 16.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035082744187[0m ×4 + 16.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091654106627 + 16.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000091654106627[0m ×2 + 16.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193435295410 + 16.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000193435295410[0m ×2 + 16.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145078664986 + 16.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000145078664986[0m ×2 + 16.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049893933089 + 16.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049893933089[0m ×2 + 16.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127622477501 ×2 + 16.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000127622477501[0m ×4 + 16.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441443320895 + 16.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441443320895[0m ×2 + 16.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000788857209227 + 16.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000788857209227[0m ×2 + 16.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451952818178 + 16.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000451952818178[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228130665915 + 16.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000228130665915[0m ×2 + 16.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006805527071 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000006805527071[0m ×2 + 16.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035021687787 + 16.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035021687787[0m ×2 + 16.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000807496648241 + 16.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000807496648241[0m ×2 + 16.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001991940040549 + 16.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001991940040549[0m ×2 + 16.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214486337549 + 16.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001214486337549[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000269758862199 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000269758862199[0m ×2 + 16.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000459949534428 + 16.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000459949534428[0m ×2 + 16.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011974566606 + 16.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000011974566606[0m ×2 + 16.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426155469927 + 16.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001426155469927[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000792954841140 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000792954841140[0m ×2 + 16.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000522092334621 + 16.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000522092334621[0m ×2 + 16.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000482977445775 + 16.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000482977445775[0m ×2 + 16.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094292276666 + 16.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000094292276666[0m ×2 + 16.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000358335933612 + 16.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000358335933612[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000365942964570 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000365942964570[0m ×2 + 16.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000557342335390 + 16.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000557342335390[0m ×2 + 16.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000548742752254 + 16.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000548742752254[0m ×2 + 17.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000246617437689 + 17.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000246617437689[0m ×2 + 17.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054811668949 ×2 + 17.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000054811668949[0m ×4 + 17.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109026337338 + 17.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109026337338[0m ×2 + 17.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120946307771 + 17.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120946307771[0m ×2 + 17.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053600774217 ×2 + 17.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000053600774217[0m ×4 + 17.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861698375025 + 17.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000861698375025[0m ×2 + 17.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220877868023 + 17.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001220877868023[0m ×2 + 17.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917227867554 + 17.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001917227867554[0m ×2 + 17.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624403773149 ×2 + 17.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001624403773149[0m ×4 + 17.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927048598058 + 17.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927048598058[0m ×2 + 17.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027867099166 ×2 + 17.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000027867099166[0m ×4 + 17.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000913276867225 + 17.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000913276867225[0m ×2 + 17.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000532224258837 ×2 + 17.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000532224258837[0m ×4 + 17.18sWARNcontroller_managerOverrun might occur, Total time : 2349.080 us (Expected < 1666.667 us) --> Read time : 274.266 us, Update time : 1640.385 us, Write time : 434.429 us + 17.18sWARNros2_control_nodeOverrun might occur, Total time : 2349.080 us (Expected < 1666.667 us) --> Read time : 274.266 us, Update time : 1640.385 us, Write time : 434.429 us[0m ×2 + 17.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828428216784 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000828428216784[0m ×2 + 17.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929164710313 + 17.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001929164710313[0m ×2 + 17.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001104406701476 + 17.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001104406701476[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466116229249 + 17.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000466116229249[0m ×2 + 17.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280243620792 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000280243620792[0m ×2 + 17.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115536069894 + 17.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000115536069894[0m ×2 + 17.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076071117286 + 17.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000076071117286[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120798708177 + 17.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000120798708177[0m ×2 + 17.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010170736927 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000010170736927[0m ×2 + 17.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000375414148324 + 17.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000375414148324[0m ×2 + 17.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019345694600 + 17.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000019345694600[0m ×2 + 17.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001496760042795 + 17.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001496760042795[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710504919170 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001710504919170[0m ×2 + 17.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000948365653062 + 17.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000948365653062[0m ×2 + 17.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000520854580675 + 17.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000520854580675[0m ×2 + 17.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000117192206862 + 17.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000117192206862[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926688984194 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001926688984194[0m ×2 + 17.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809127171810 + 17.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004809127171810[0m ×2 + 17.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043347704711 + 17.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003043347704711[0m ×2 + 17.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648743094130 + 17.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001648743094130[0m ×2 + 17.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911661514827 ×2 + 17.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911661514827[0m ×4 + 17.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983833840075 + 17.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001983833840075[0m ×2 + 17.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090672779969 + 17.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000090672779969[0m ×2 + 17.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030830693350 ×2 + 17.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000030830693350[0m ×4 + 17.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083757481104 + 17.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000083757481104[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250053395574 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000250053395574[0m ×2 + 17.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000168945767863 + 17.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000168945767863[0m ×2 + 17.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109933277732 + 17.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109933277732[0m ×2 + 17.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069480619527 + 17.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000069480619527[0m ×2 + 17.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041286006675 ×2 + 17.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041286006675[0m ×4 + 17.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000151629853113 + 17.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000151629853113[0m ×2 + 17.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000392915891346 + 17.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000392915891346[0m ×2 + 17.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259079191732 ×2 + 17.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000259079191732[0m ×4 + 17.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177313866308 + 17.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000177313866308[0m ×2 + 17.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119832815211 ×2 + 17.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000119832815211[0m ×4 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133695 ms (missed cycles : 5). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.133695 ms (missed cycles : 5).[0m ×2 + 17.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051792842895 + 17.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000051792842895[0m ×2 + 17.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117551640009 + 17.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117551640009[0m ×2 + 17.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046447987127 + 17.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046447987127[0m ×2 + 17.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027091359985 + 17.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027091359985[0m ×2 + 17.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014268116056 ×2 + 17.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000014268116056[0m ×4 + 17.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007082758179 + 17.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007082758179[0m ×2 + 17.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002046592421 + 17.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002046592421[0m ×2 + 17.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000449961348 + 17.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000000449961348[0m ×2 + 17.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048921964486 ×2 + 17.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000048921964486[0m ×4 + 17.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035264447083 + 17.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035264447083[0m ×2 + 17.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027888164540 + 17.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000027888164540[0m ×2 + 17.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016497411801 + 17.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016497411801[0m ×2 + 17.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013022346162 + 17.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013022346162[0m ×2 + 17.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011253540367 ×2 + 17.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011253540367[0m ×4 + 17.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009674114928 + 17.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009674114928[0m ×2 + 17.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126960185832 + 17.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126960185832[0m ×2 + 17.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000688482184145 + 17.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000688482184145[0m ×2 + 17.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673088840240 + 17.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000673088840240[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949797007811 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001949797007811[0m ×2 + 17.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595515615368 + 17.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003595515615368[0m ×2 + 17.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692555569774 + 17.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003692555569774[0m ×2 + 17.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661926296467 + 17.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003661926296467[0m ×2 + 17.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890423371692 + 17.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004890423371692[0m ×2 + 17.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619068752968 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005619068752968[0m ×2 + 17.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737880551775 + 17.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737880551775[0m ×2 + 17.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404643135828 + 17.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005404643135828[0m ×2 + 17.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527002574698 + 17.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004527002574698[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765865638568 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004765865638568[0m ×2 + 17.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095277412313 + 17.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004095277412313[0m ×2 + 17.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663024634906 + 17.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003663024634906[0m ×2 + 17.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583593394432 + 17.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003583593394432[0m ×2 + 17.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025380880234 + 17.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004025380880234[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849321089008 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849321089008[0m ×2 + 17.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920034884914 + 17.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004920034884914[0m ×2 + 17.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051988051397 + 17.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003051988051397[0m ×2 + 17.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358993618809 + 17.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004358993618809[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379765166052 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004379765166052[0m ×2 + 17.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440338947106 + 17.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002440338947106[0m ×2 + 17.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590817608394 + 17.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002590817608394[0m ×2 + 17.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110247149287 + 17.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004110247149287[0m ×2 + 17.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790369420637 + 17.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003790369420637[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634373507421 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634373507421[0m ×2 + 17.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707846435372 + 17.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003707846435372[0m ×2 + 18.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535680916778 + 18.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003535680916778[0m ×2 + 18.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634676987581 + 18.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003634676987581[0m ×2 + 18.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771585361667 + 18.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003771585361667[0m ×2 + 18.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168841408254 + 18.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002168841408254[0m ×2 + 18.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441996820388 + 18.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001441996820388[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350509397149 + 18.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001350509397149[0m ×2 + 18.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431110562421 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003431110562421[0m ×2 + 18.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400970525926 + 18.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003400970525926[0m ×2 + 18.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679338568665 + 18.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002679338568665[0m ×2 + 18.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918712118806 + 18.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002918712118806[0m ×2 + 18.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367924448899 + 18.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004367924448899[0m ×2 + 18.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995343411785 + 18.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003995343411785[0m ×2 + 18.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126845238603 + 18.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003126845238603[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458359894802 + 18.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004458359894802[0m ×2 + 18.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006239359074634 + 18.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006239359074634[0m ×2 + 18.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415066045452 + 18.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006415066045452[0m ×2 + 18.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461450858304 + 18.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006461450858304[0m ×2 + 18.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895939154382 + 18.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002895939154382[0m ×2 + 18.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344414317938 + 18.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004344414317938[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786437893139 + 18.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004786437893139[0m ×2 + 18.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539894061613 + 18.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005539894061613[0m ×2 + 18.23sWARNcontroller_managerOverrun might occur, Total time : 2009.273 us (Expected < 1666.667 us) --> Read time : 286.856 us, Update time : 162.824 us, Write time : 1559.593 us + 18.24sWARNros2_control_nodeOverrun might occur, Total time : 2009.273 us (Expected < 1666.667 us) --> Read time : 286.856 us, Update time : 162.824 us, Write time : 1559.593 us[0m ×2 + 18.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691385066266 + 18.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004691385066266[0m ×2 + 18.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255714313918 + 18.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003255714313918[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574750668804 + 18.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004574750668804[0m ×2 + 18.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394803032810 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005394803032810[0m ×2 + 18.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991587293471 + 18.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005991587293471[0m ×2 + 18.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217021642646 + 18.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006217021642646[0m ×2 + 18.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015497515315 + 18.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005015497515315[0m ×2 + 18.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224679437649 + 18.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224679437649[0m ×2 + 18.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042061067309 + 18.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005042061067309[0m ×2 + 18.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236512368870 + 18.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004236512368870[0m ×2 + 18.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729751990568 + 18.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003729751990568[0m ×2 + 18.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709162339824 + 18.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004709162339824[0m ×2 + 18.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989448889179 + 18.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003989448889179[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806383384615 + 18.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004806383384615[0m ×2 + 18.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178344138152 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004178344138152[0m ×2 + 18.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764708803816 + 18.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003764708803816[0m ×2 + 18.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398186957196 + 18.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003398186957196[0m ×2 + 18.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290888438294 + 18.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003290888438294[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996000297223 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001996000297223[0m ×2 + 18.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794560141324 + 18.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004794560141324[0m ×2 + 18.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698348240169 + 18.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002698348240169[0m ×2 + 18.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000266319893101 + 18.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000266319893101[0m ×2 + 18.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563946161213 + 18.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002563946161213[0m ×2 + 18.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283608687396 + 18.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004283608687396[0m ×2 + 18.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343263395560 + 18.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005343263395560[0m ×2 + 18.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206920703008 + 18.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003206920703008[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000000242101 + 18.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006000000242101[0m ×2 + 18.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980688642806 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004980688642806[0m ×2 + 18.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554415348233 + 18.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003554415348233[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004913682962469 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004913682962469[0m ×2 + 18.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820164225393 + 18.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002820164225393[0m ×2 + 18.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003309218326674 + 18.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003309218326674[0m ×2 + 18.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557241964409 + 18.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004557241964409[0m ×2 + 18.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411271872130 + 18.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005411271872130[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100965137021 + 18.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003100965137021[0m ×2 + 18.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008367254126680 + 18.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008367254126680[0m ×2 + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092693 ms (missed cycles : 2). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092693 ms (missed cycles : 2).[0m ×2 + 18.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891067716608 + 18.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004891067716608[0m ×2 + 18.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933511065860 + 18.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003933511065860[0m ×2 + 18.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814853429381 + 18.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004814853429381[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422652007913 + 18.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005422652007913[0m ×2 + 18.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510439742203 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004510439742203[0m ×2 + 18.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289157299689 + 18.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005289157299689[0m ×2 + 18.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511377787297 + 18.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511377787297[0m ×2 + 18.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568042523497 + 18.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004568042523497[0m ×2 + 18.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888979813771 + 18.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003888979813771[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707398858012 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004707398858012[0m ×2 + 18.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009438541415 + 18.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004009438541415[0m ×2 + 18.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575702496364 + 18.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003575702496364[0m ×2 + 18.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609356685020 + 18.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004609356685020[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001893828912 + 18.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004001893828912[0m ×2 + 18.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819927531836 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004819927531836[0m ×2 + 18.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127673205196 + 18.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004127673205196[0m ×2 + 18.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683562037295 + 18.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003683562037295[0m ×2 + 18.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696556484974 + 18.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004696556484974[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139084077512 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005139084077512[0m ×2 + 18.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346311985104 + 18.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004346311985104[0m ×2 + 18.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828456017809 + 18.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003828456017809[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992246911571 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002992246911571[0m ×2 + 18.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408276098551 + 18.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004408276098551[0m ×2 + 18.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295567471799 + 18.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005295567471799[0m ×2 + 18.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814625535682 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005814625535682[0m ×2 + 18.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452398409163 + 18.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004452398409163[0m ×2 + 18.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913238669306 + 18.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003913238669306[0m ×2 + 18.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899319787537 + 18.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004899319787537[0m ×2 + 18.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005510212231724 + 18.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005510212231724[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596475352250 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004596475352250[0m ×2 + 18.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413901364587 + 18.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005413901364587[0m ×2 + 18.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484421648723 + 18.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004484421648723[0m ×2 + 18.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154124338778 + 18.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005154124338778[0m ×2 + 18.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326972065813 + 18.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004326972065813[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143520553217 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005143520553217[0m ×2 + 18.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276545312183 + 18.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004276545312183[0m ×2 + 18.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994594027442 + 18.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004994594027442[0m ×2 + 18.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188072332683 + 18.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004188072332683[0m ×2 + 18.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954671411272 + 18.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004954671411272[0m ×2 + 19.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998346154340 + 19.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003998346154340[0m ×2 + 19.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719660516251 + 19.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003719660516251[0m ×2 + 19.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789469840655 + 19.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004789469840655[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605300926534 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005605300926534[0m ×2 + 19.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005973013942391 + 19.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005973013942391[0m ×2 + 19.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859985070941 + 19.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004859985070941[0m ×2 + 19.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401552678268 + 19.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005401552678268[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445712060105 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004445712060105[0m ×2 + 19.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261120514263 + 19.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261120514263[0m ×2 + 19.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335561428594 + 19.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004335561428594[0m ×2 + 19.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018904474123 + 19.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005018904474123[0m ×2 + 19.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186307377262 + 19.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004186307377262[0m ×2 + 19.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670359714241 + 19.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003670359714241[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694234739316 + 19.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004694234739316[0m ×2 + 19.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135080443127 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005135080443127[0m ×2 + 19.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342216508073 + 19.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004342216508073[0m ×2 + 19.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093339932768 + 19.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005093339932768[0m ×2 + 19.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284122976359 + 19.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004284122976359[0m ×2 + 19.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028014148376 + 19.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005028014148376[0m ×2 + 19.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468460895085 + 19.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005468460895085[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202092812153 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202092812153[0m ×2 + 19.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997997671918 + 19.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004997997671918[0m ×2 + 19.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497825836682 + 19.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005497825836682[0m ×2 + 19.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514526228026 + 19.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004514526228026[0m ×2 + 19.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805073726095 + 19.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003805073726095[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618217133310 + 19.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004618217133310[0m ×2 + 19.24sWARNcontroller_managerOverrun might occur, Total time : 2048.864 us (Expected < 1666.667 us) --> Read time : 345.428 us, Update time : 91.082 us, Write time : 1612.354 us + 19.24sWARNros2_control_nodeOverrun might occur, Total time : 2048.864 us (Expected < 1666.667 us) --> Read time : 345.428 us, Update time : 91.082 us, Write time : 1612.354 us[0m ×2 + 19.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257503021561 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005257503021561[0m ×2 + 19.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659033112485 + 19.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005659033112485[0m ×2 + 19.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608210804336 + 19.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004608210804336[0m ×2 + 19.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191941720268 + 19.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005191941720268[0m ×2 + 19.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559687975997 + 19.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005559687975997[0m ×2 + 19.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502942699601 + 19.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004502942699601[0m ×2 + 19.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005092820395973 + 19.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005092820395973[0m ×2 + 19.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202884569110 + 19.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004202884569110[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641689751029 + 19.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641689751029[0m ×2 + 19.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453152479465 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004453152479465[0m ×2 + 19.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157166206881 + 19.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005157166206881[0m ×2 + 19.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588505295283 + 19.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588505295283[0m ×2 + 19.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560449443893 + 19.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004560449443893[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156261461080 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005156261461080[0m ×2 + 19.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564968059453 + 19.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005564968059453[0m ×2 + 19.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789991182618 + 19.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005789991182618[0m ×2 + 19.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924826440282 + 19.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005924826440282[0m ×2 + 19.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692544424621 + 19.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004692544424621[0m ×2 + 19.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502868280751 + 19.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005502868280751[0m ×2 + 19.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094030993091 + 19.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003094030993091[0m ×2 + 19.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321546190498 + 19.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004321546190498[0m ×2 + 19.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106765383860 + 19.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106765383860[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583708236544 + 19.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005583708236544[0m ×2 + 19.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005854152672323 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005854152672323[0m ×2 + 19.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005973948521779 + 19.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005973948521779[0m ×2 + 19.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741975658791 + 19.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004741975658791[0m ×2 + 19.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207416816577 + 19.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005207416816577[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505784254097 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005505784254097[0m ×2 + 19.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418866617379 + 19.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004418866617379[0m ×2 + 19.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992220573840 + 19.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004992220573840[0m ×2 + 19.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365447462141 + 19.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005365447462141[0m ×2 + 19.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337072359974 + 19.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004337072359974[0m ×2 + 19.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144523583533 + 19.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005144523583533[0m ×2 + 19.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002368 ms (missed cycles : 4). + 19.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.002368 ms (missed cycles : 4).[0m ×2 + 19.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572740158530 + 19.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002572740158530[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361379858744 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003361379858744[0m ×2 + 19.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855314087431 + 19.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004855314087431[0m ×2 + 19.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005567909916947 + 19.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005567909916947[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942672328167 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942672328167[0m ×2 + 19.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423645113519 + 19.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004423645113519[0m ×2 + 19.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807181556432 + 19.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003807181556432[0m ×2 + 19.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756447165603 + 19.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756447165603[0m ×2 + 19.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346451860719 + 19.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346451860719[0m ×2 + 19.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682085153926 + 19.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682085153926[0m ×2 + 19.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007169446260425 + 19.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007169446260425[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518701810035 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005518701810035[0m ×2 + 19.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668932233360 + 19.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005668932233360[0m ×2 + 19.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745137304589 + 19.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005745137304589[0m ×2 + 19.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068560917143 + 19.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004068560917143[0m ×2 + 19.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553657671040 + 19.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005553657671040[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705306001504 + 19.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005705306001504[0m ×2 + 19.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779717559604 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005779717559604[0m ×2 + 19.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544502612972 + 19.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004544502612972[0m ×2 + 19.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023222335870 + 19.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005023222335870[0m ×2 + 19.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336128324739 + 19.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005336128324739[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770193213341 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005770193213341[0m ×2 + 19.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556760218022 + 19.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004556760218022[0m ×2 + 19.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005030101572539 + 19.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005030101572539[0m ×2 + 19.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342264529461 + 19.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005342264529461[0m ×2 + 19.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536343994554 + 19.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005536343994554[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003104225641 + 19.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004003104225641[0m ×2 + 19.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737028208844 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004737028208844[0m ×2 + 19.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217506734613 + 19.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005217506734613[0m ×2 + 19.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511213551805 + 19.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005511213551805[0m ×2 + 19.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005675385637886 + 19.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005675385637886[0m ×2 + 19.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005741916207348 + 19.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005741916207348[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006540952542522 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006540952542522[0m ×2 + 19.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720862715830 + 19.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003720862715830[0m ×2 + 19.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470874060412 + 19.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004470874060412[0m ×2 + 19.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978880903141 + 19.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004978880903141[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817664470088 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003817664470088[0m ×2 + 19.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006852809872289 + 19.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006852809872289[0m ×2 + 19.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006547137262042 + 19.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006547137262042[0m ×2 + 20.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284822500709 + 20.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006284822500709[0m ×2 + 20.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081516640830 + 20.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006081516640830[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004096616079127 + 20.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004096616079127[0m ×2 + 20.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568048187880 + 20.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005568048187880[0m ×2 + 20.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343719604457 + 20.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004343719604457[0m ×2 + 20.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001060832875697 + 20.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001060832875697[0m ×2 + 20.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924409482601 + 20.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002924409482601[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172610766153 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004172610766153[0m ×2 + 20.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938430252775 + 20.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938430252775[0m ×2 + 20.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445058838924 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005445058838924[0m ×2 + 20.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715511446826 + 20.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005715511446826[0m ×2 + 20.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005834931225915 + 20.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005834931225915[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005862199721185 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005862199721185[0m ×2 + 20.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007336003699944 + 20.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007336003699944[0m ×2 + 20.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006757331732653 + 20.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006757331732653[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006323898359845 + 20.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006323898359845[0m ×2 + 20.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006449442822920 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006449442822920[0m ×2 + 20.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006091450607476 + 20.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006091450607476[0m ×2 + 20.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844656495893 + 20.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005844656495893[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005671594049780 + 20.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005671594049780[0m ×2 + 20.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708352001428 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005708352001428[0m ×2 + 20.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005599538980122 + 20.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005599538980122[0m ×2 + 20.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537533942259 + 20.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005537533942259[0m ×2 + 20.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840620661591 + 20.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002840620661591[0m ×2 + 20.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006409800041045 + 20.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006409800041045[0m ×2 + 20.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008571483343677 + 20.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008571483343677[0m ×2 + 20.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008608106820697 + 20.26sWARNcontroller_managerOverrun might occur, Total time : 3147.418 us (Expected < 1666.667 us) --> Read time : 228.885 us, Update time : 2435.212 us, Write time : 483.321 us + 20.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008608106820697[0m ×2 + 20.26sWARNros2_control_nodeOverrun might occur, Total time : 3147.418 us (Expected < 1666.667 us) --> Read time : 228.885 us, Update time : 2435.212 us, Write time : 483.321 us[0m ×2 + 20.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641629539152 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003641629539152[0m ×2 + 20.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317768705270 + 20.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003317768705270[0m ×2 + 20.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355674590612 + 20.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004355674590612[0m ×2 + 20.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013041882740 + 20.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005013041882740[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468242129996 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006468242129996[0m ×2 + 20.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008585110492581 + 20.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008585110492581[0m ×2 + 20.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545006093594 + 20.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007545006093594[0m ×2 + 20.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776757925428 + 20.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776757925428[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006234801853732 + 20.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006234801853732[0m ×2 + 20.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659817057253 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659817057253[0m ×2 + 20.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132267520659 + 20.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006132267520659[0m ×2 + 20.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005785425306442 + 20.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005785425306442[0m ×2 + 20.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570620245348 + 20.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005570620245348[0m ×2 + 20.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447512252784 + 20.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005447512252784[0m ×2 + 20.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737389178317 + 20.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002737389178317[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184441166848 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184441166848[0m ×2 + 20.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007086306565595 + 20.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007086306565595[0m ×2 + 20.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006624136469222 + 20.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006624136469222[0m ×2 + 20.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006252538008123 + 20.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006252538008123[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966830119977 + 20.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005966830119977[0m ×2 + 20.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006747788611680 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006747788611680[0m ×2 + 20.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006215546043108 + 20.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006215546043108[0m ×2 + 20.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873868456329 + 20.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005873868456329[0m ×2 + 20.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645548973937 + 20.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005645548973937[0m ×2 + 20.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425188591473 + 20.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006425188591473[0m ×2 + 20.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165380431660 + 20.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005165380431660[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232579083766 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005232579083766[0m ×2 + 20.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007666075276526 + 20.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007666075276526[0m ×2 + 20.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006903473058956 + 20.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006903473058956[0m ×2 + 20.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006341280948647 + 20.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006341280948647[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007118285623690 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007118285623690[0m ×2 + 20.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006428916984848 + 20.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006428916984848[0m ×2 + 20.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005952933728301 + 20.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005952933728301[0m ×2 + 20.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642667974333 + 20.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005642667974333[0m ×2 + 20.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942775597120 + 20.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005942775597120[0m ×2 + 20.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737662801706 + 20.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005737662801706[0m ×2 + 20.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588990261858 + 20.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005588990261858[0m ×2 + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213864 ms (missed cycles : 2). + 20.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213864 ms (missed cycles : 2).[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007019019211714 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007019019211714[0m ×2 + 20.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006372687752876 + 20.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006372687752876[0m ×2 + 20.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227981291293 + 20.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006227981291293[0m ×2 + 20.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005891778758751 + 20.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005891778758751[0m ×2 + 20.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005653602438429 + 20.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005653602438429[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494730596009 + 20.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005494730596009[0m ×2 + 20.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006919150589461 + 20.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006919150589461[0m ×2 + 20.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006276581101831 + 20.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006276581101831[0m ×2 + 20.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833205197337 + 20.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005833205197337[0m ×2 + 20.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005970970797284 + 20.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005970970797284[0m ×2 + 20.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387080638231 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006387080638231[0m ×2 + 20.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006290732386280 + 20.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006290732386280[0m ×2 + 20.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005946849117256 + 20.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005946849117256[0m ×2 + 20.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007915506010126 + 20.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007915506010126[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006895646695328 + 20.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006895646695328[0m ×2 + 20.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007310284203631 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007310284203631[0m ×2 + 20.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444742330871 + 20.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006444742330871[0m ×2 + 20.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005867865764253 + 20.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005867865764253[0m ×2 + 20.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500477492166 + 20.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005500477492166[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007496922633354 + 20.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007496922633354[0m ×2 + 20.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007516117088376 + 20.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007516117088376[0m ×2 + 20.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006552200798128 + 20.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006552200798128[0m ×2 + 20.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909575884294 + 20.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005909575884294[0m ×2 + 20.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805417146041 + 20.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004805417146041[0m ×2 + 20.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275003021557 + 20.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007275003021557[0m ×2 + 20.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006604651165396 + 20.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006604651165396[0m ×2 + 20.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008284934258121 + 20.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008284934258121[0m ×2 + 20.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007080139541038 + 20.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007080139541038[0m ×2 + 20.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007491198762856 + 20.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007491198762856[0m ×2 + 20.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006494807888451 + 20.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006494807888451[0m ×2 + 20.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840526434794 + 20.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840526434794[0m ×2 + 20.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007624025243260 + 20.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007624025243260[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006548817943889 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006548817943889[0m ×2 + 20.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840910771593 + 20.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005840910771593[0m ×2 + 20.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402017469019 + 20.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005402017469019[0m ×2 + 20.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335973650763 + 20.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007335973650763[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375831118392 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006375831118392[0m ×2 + 21.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005938814718557 + 21.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005938814718557[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915376726527 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005915376726527[0m ×2 + 21.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007799863752560 + 21.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007799863752560[0m ×2 + 21.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006763322444745 + 21.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006763322444745[0m ×2 + 21.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008218197976027 + 21.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008218197976027[0m ×2 + 21.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006914673089636 + 21.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006914673089636[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039288887729 + 21.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006039288887729[0m ×2 + 21.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735053117564 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005735053117564[0m ×2 + 21.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007575497015260 + 21.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007575497015260[0m ×2 + 21.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546104094873 + 21.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006546104094873[0m ×2 + 21.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008011653040811 + 21.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008011653040811[0m ×2 + 21.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006741264353798 + 21.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006741264353798[0m ×2 + 21.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008052482527427 + 21.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008052482527427[0m ×2 + 21.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701374996052 + 21.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006701374996052[0m ×2 + 21.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007445086871226 + 21.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007445086871226[0m ×2 + 21.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279662124498 + 21.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006279662124498[0m ×2 + 21.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682744871507 + 21.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005682744871507[0m ×2 + 21.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007450484584642 + 21.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007450484584642[0m ×2 + 21.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006405747082203 + 21.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006405747082203[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007774216513674 + 21.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007774216513674[0m ×2 + 21.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557979020003 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006557979020003[0m ×2 + 21.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007898176465251 + 21.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007898176465251[0m ×2 + 21.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006583903616040 + 21.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006583903616040[0m ×2 + 21.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865936129744 + 21.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007865936129744[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081885784067 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008081885784067[0m ×2 + 21.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659761314235 + 21.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006659761314235[0m ×2 + 21.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007870612386787 + 21.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007870612386787[0m ×2 + 21.27sWARNcontroller_managerOverrun might occur, Total time : 3797.812 us (Expected < 1666.667 us) --> Read time : 183.704 us, Update time : 3045.935 us, Write time : 568.173 us + 21.27sWARNros2_control_nodeOverrun might occur, Total time : 3797.812 us (Expected < 1666.667 us) --> Read time : 183.704 us, Update time : 3045.935 us, Write time : 568.173 us[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346129994233 + 21.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005346129994233[0m ×2 + 21.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261040888411 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005261040888411[0m ×2 + 21.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148447512504 + 21.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007148447512504[0m ×2 + 21.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006215400205795 + 21.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006215400205795[0m ×2 + 21.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713954758595 + 21.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007713954758595[0m ×2 + 21.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008666387300170 + 21.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008666387300170[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007045696647963 + 21.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007045696647963[0m ×2 + 21.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394807633007 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008394807633007[0m ×2 + 21.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006809083749049 + 21.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006809083749049[0m ×2 + 21.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007887236201087 + 21.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007887236201087[0m ×2 + 21.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006449267952507 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006449267952507[0m ×2 + 21.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561355738590 + 21.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005561355738590[0m ×2 + 21.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007231416500205 + 21.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007231416500205[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008278594653773 + 21.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008278594653773[0m ×2 + 21.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009003765675391 + 21.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009003765675391[0m ×2 + 21.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007231997076447 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007231997076447[0m ×2 + 21.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008148926623986 + 21.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008148926623986[0m ×2 + 21.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006177927312261 + 21.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006177927312261[0m ×2 + 21.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007527189951813 + 21.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007527189951813[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008860188195954 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008860188195954[0m ×2 + 21.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006504520783983 + 21.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006504520783983[0m ×2 + 21.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721270984110 + 21.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007721270984110[0m ×2 + 21.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008464864040993 + 21.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008464864040993[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008879069424312 + 21.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008879069424312[0m ×2 + 21.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009089095321307 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009089095321307[0m ×2 + 21.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127887250551 + 21.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007127887250551[0m ×2 + 21.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007926835108223 + 21.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007926835108223[0m ×2 + 21.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008424800872208 + 21.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008424800872208[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006642246815883 + 21.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006642246815883[0m ×2 + 21.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007961220678786 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007961220678786[0m ×2 + 21.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006325776572705 + 21.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006325776572705[0m ×2 + 21.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007368442057323 + 21.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007368442057323[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008049510482675 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008049510482675[0m ×2 + 21.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008760457392323 + 21.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008760457392323[0m ×2 + 21.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006846981237510 + 21.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006846981237510[0m ×2 + 21.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007677789087337 + 21.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007677789087337[0m ×2 + 21.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008386992621595 + 21.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008386992621595[0m ×2 + 21.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595011007996 + 21.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006595011007996[0m ×2 + 21.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149848887779 + 21.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004149848887779[0m ×2 + 21.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006334471466137 + 21.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006334471466137[0m ×2 + 21.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759590 ms (missed cycles : 2). + 21.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007712334838976 + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.759590 ms (missed cycles : 2).[0m ×2 + 21.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007712334838976[0m ×2 + 21.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008516102767475 + 21.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008516102767475[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826690155081 + 21.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826690155081[0m ×2 + 21.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006740020061617 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006740020061617[0m ×2 + 21.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007921957300528 + 21.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007921957300528[0m ×2 + 21.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008591056073728 + 21.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008591056073728[0m ×2 + 21.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008917547673159 + 21.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008917547673159[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009028037611629 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009028037611629[0m ×2 + 21.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011412099193410 + 21.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011412099193410[0m ×2 + 21.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008460598618161 + 21.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008460598618161[0m ×2 + 21.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008517043328941 + 21.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008517043328941[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009803080731387 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009803080731387[0m ×2 + 21.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009318514488566 + 21.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009318514488566[0m ×2 + 21.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008957307079932 + 21.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008957307079932[0m ×2 + 21.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008699314029654 + 21.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008699314029654[0m ×2 + 21.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008522370377216 + 21.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008522370377216[0m ×2 + 21.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649973083325 + 21.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005649973083325[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776581073039 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006776581073039[0m ×2 + 21.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007528406610561 + 21.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007528406610561[0m ×2 + 21.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008000161463745 + 21.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008000161463745[0m ×2 + 21.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271928917133 + 21.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008271928917133[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008407688820150 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008407688820150[0m ×2 + 21.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009673669186921 + 21.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009673669186921[0m ×2 + 21.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009233714757306 + 21.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009233714757306[0m ×2 + 21.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008888442120672 + 21.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008888442120672[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008628512084460 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008628512084460[0m ×2 + 21.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009310157556457 + 21.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009310157556457[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008859180510591 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008859180510591[0m ×2 + 21.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009333124578222 + 21.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009333124578222[0m ×2 + 21.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008949319603284 + 21.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008949319603284[0m ×2 + 21.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008654776799580 + 21.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008654776799580[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008437118184514 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008437118184514[0m ×2 + 21.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009684903531108 + 21.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009684903531108[0m ×2 + 21.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009048236289190 + 21.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009048236289190[0m ×2 + 21.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008604884613077 + 21.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008604884613077[0m ×2 + 21.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008309254202924 + 21.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008309254202924[0m ×2 + 22.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009550559560554 + 22.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009550559560554[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007681734688308 + 22.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007681734688308[0m ×2 + 22.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007739155067246 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007739155067246[0m ×2 + 22.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011638146686986 + 22.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011638146686986[0m ×2 + 22.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010410568394834 + 22.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010410568394834[0m ×2 + 22.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009825782142383 + 22.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009825782142383[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010490346175315 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010490346175315[0m ×2 + 22.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009542477222414 + 22.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009542477222414[0m ×2 + 22.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863441509922 + 22.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008863441509922[0m ×2 + 22.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397445721797 + 22.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008397445721797[0m ×2 + 22.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008091924348015 + 22.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008091924348015[0m ×2 + 22.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007902514829700 + 22.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007902514829700[0m ×2 + 22.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011316493145248 + 22.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011316493145248[0m ×2 + 22.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009896326508762 + 22.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009896326508762[0m ×2 + 22.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010552379765432 + 22.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010552379765432[0m ×2 + 22.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009322722295847 + 22.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009322722295847[0m ×2 + 22.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008963051173444 + 22.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008963051173444[0m ×2 + 22.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425054172081 + 22.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008425054172081[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011549636290346 + 22.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011549636290346[0m ×2 + 22.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011901339332299 + 22.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011901339332299[0m ×2 + 22.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010186969839170 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010186969839170[0m ×2 + 22.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009010925188557 + 22.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009010925188557[0m ×2 + 22.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008247336584295 + 22.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008247336584295[0m ×2 + 22.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011236313193445 + 22.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011236313193445[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011425093682840 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011425093682840[0m ×2 + 22.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009750429231248 + 22.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009750429231248[0m ×2 + 22.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008637089398966 + 22.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008637089398966[0m ×2 + 22.27sWARNcontroller_managerOverrun might occur, Total time : 2414.832 us (Expected < 1666.667 us) --> Read time : 310.447 us, Update time : 101.802 us, Write time : 2002.583 us + 22.27sWARNros2_control_nodeOverrun might occur, Total time : 2414.832 us (Expected < 1666.667 us) --> Read time : 310.447 us, Update time : 101.802 us, Write time : 2002.583 us[0m ×2 + 22.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937391837654 + 22.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007937391837654[0m ×2 + 22.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006792932028161 + 22.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006792932028161[0m ×2 + 22.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010683675905568 + 22.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010683675905568[0m ×2 + 22.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013040111640748 + 22.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013040111640748[0m ×2 + 22.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010931351959813 + 22.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010931351959813[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013097543182243 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013097543182243[0m ×2 + 22.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010770434866778 + 22.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010770434866778[0m ×2 + 22.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009183265538843 + 22.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009183265538843[0m ×2 + 22.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011532808164896 + 22.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011532808164896[0m ×2 + 22.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009599970525871 + 22.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009599970525871[0m ×2 + 22.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011703133927284 + 22.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011703133927284[0m ×2 + 22.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009631289927464 + 22.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009631289927464[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011638073063049 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011638073063049[0m ×2 + 22.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011820733452403 + 22.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011820733452403[0m ×2 + 22.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009643183660244 + 22.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009643183660244[0m ×2 + 22.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011572358181703 + 22.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011572358181703[0m ×2 + 22.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009440782493577 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009440782493577[0m ×2 + 22.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008200188402736 + 22.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008200188402736[0m ×2 + 22.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008080755570607 + 22.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008080755570607[0m ×2 + 22.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010946032698692 + 22.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010946032698692[0m ×2 + 22.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012672360975045 + 22.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012672360975045[0m ×2 + 22.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013606443279102 + 22.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013606443279102[0m ×2 + 22.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014216395176708 + 22.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014216395176708[0m ×2 + 22.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007363321690675 + 22.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007363321690675[0m ×2 + 22.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010315895782481 + 22.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010315895782481[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012133686131723 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012133686131723[0m ×2 + 22.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013154658679354 + 22.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013154658679354[0m ×2 + 22.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013635330025580 + 22.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013635330025580[0m ×2 + 22.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013776908471108 + 22.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013776908471108[0m ×2 + 22.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010522135378460 + 22.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010522135378460[0m ×2 + 22.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011610193087293 + 22.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011610193087293[0m ×2 + 22.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012709716182035 + 22.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012709716182035[0m ×2 + 22.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008797458148015 + 22.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008797458148015[0m ×2 + 22.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010655365621373 + 22.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010655365621373[0m ×2 + 22.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011823046098962 + 22.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011823046098962[0m ×2 + 22.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012495211012331 + 22.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012495211012331[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014499747940945 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014499747940945[0m ×2 + 22.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010914158426563 + 22.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010914158426563[0m ×2 + 22.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011707283511457 + 22.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011707283511457[0m ×2 + 22.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012180413156911 + 22.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012180413156911[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013255228563055 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013255228563055[0m ×2 + 22.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009975808507092 + 22.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009975808507092[0m ×2 + 22.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010996315788119 + 22.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010996315788119[0m ×2 + 22.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127560 ms (missed cycles : 4). + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.127560 ms (missed cycles : 4).[0m ×2 + 22.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011653206234800 + 22.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011653206234800[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005974928048920 + 22.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005974928048920[0m ×2 + 22.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009597212562331 + 22.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009597212562331[0m ×2 + 22.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011220427167116 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011220427167116[0m ×2 + 22.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017797936016351 + 22.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017797936016351[0m ×2 + 22.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016047517078513 + 22.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016047517078513[0m ×2 + 22.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011634444618001 + 22.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011634444618001[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011772128393991 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011772128393991[0m ×2 + 22.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013695504282266 + 22.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013695504282266[0m ×2 + 22.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013008033381521 + 22.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013008033381521[0m ×2 + 22.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719038050266 + 22.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005719038050266[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014033480697155 + 22.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014033480697155[0m ×2 + 22.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014121536448443 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014121536448443[0m ×2 + 22.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019216728196371 + 22.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019216728196371[0m ×2 + 22.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013661580398363 + 22.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013661580398363[0m ×2 + 22.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012880430461583 + 22.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012880430461583[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013425998618486 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013425998618486[0m ×2 + 22.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014434546352813 + 22.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014434546352813[0m ×2 + 22.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013378780847532 + 22.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013378780847532[0m ×2 + 22.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013540627800514 + 22.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013540627800514[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012773086402040 + 22.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012773086402040[0m ×2 + 22.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016170000267499 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016170000267499[0m ×2 + 22.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014252134014357 + 22.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014252134014357[0m ×2 + 22.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012892662217234 + 22.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012892662217234[0m ×2 + 22.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011970331796564 + 22.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011970331796564[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011374183438511 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011374183438511[0m ×2 + 22.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014717930508782 + 22.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014717930508782[0m ×2 + 22.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013041353931234 + 22.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013041353931234[0m ×2 + 22.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011919303564135 + 22.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011919303564135[0m ×2 + 22.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011207397829168 + 22.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011207397829168[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015955410695107 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015955410695107[0m ×2 + 22.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016237063990243 + 22.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016237063990243[0m ×2 + 23.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013865267322644 + 23.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013865267322644[0m ×2 + 23.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012265115800836 + 23.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012265115800836[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011240827934871 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011240827934871[0m ×2 + 23.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014488252785805 + 23.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014488252785805[0m ×2 + 23.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012597584755465 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012597584755465[0m ×2 + 23.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012062382722102 + 23.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012062382722102[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012216505398181 + 23.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012216505398181[0m ×2 + 23.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015405175612734 + 23.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015405175612734[0m ×2 + 23.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018468700384804 + 23.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018468700384804[0m ×2 + 23.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015145937594548 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015145937594548[0m ×2 + 23.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008494433261872 + 23.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008494433261872[0m ×2 + 23.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014499514570381 + 23.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014499514570381[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018075902999554 + 23.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018075902999554[0m ×2 + 23.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021168373883869 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021168373883869[0m ×2 + 23.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021831404884760 + 23.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021831404884760[0m ×2 + 23.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016953994680558 + 23.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016953994680558[0m ×2 + 23.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013601819763315 + 23.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013601819763315[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016177138493208 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016177138493208[0m ×2 + 23.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017062705706533 + 23.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017062705706533[0m ×2 + 23.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013498976048606 + 23.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013498976048606[0m ×2 + 23.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015911146552297 + 23.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015911146552297[0m ×2 + 23.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016787225433924 + 23.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016787225433924[0m ×2 + 23.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013199365344872 + 23.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013199365344872[0m ×2 + 23.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010875839922455 + 23.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010875839922455[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010550623269983 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010550623269983[0m ×2 + 23.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014531512709333 + 23.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014531512709333[0m ×2 + 23.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016899755987268 + 23.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016899755987268[0m ×2 + 23.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018146292850178 + 23.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018146292850178[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018649511338811 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018649511338811[0m ×2 + 23.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020198985583190 + 23.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020198985583190[0m ×2 + 23.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015148583257533 + 23.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015148583257533[0m ×2 + 23.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016276719988585 + 23.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016276719988585[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016883112887661 + 23.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016883112887661[0m ×2 + 23.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017706353467110 + 23.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017706353467110[0m ×2 + 23.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013234915291796 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013234915291796[0m ×2 + 23.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018071645424455 + 23.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018071645424455[0m ×2 + 23.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018028191304289 + 23.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018028191304289[0m ×2 + 23.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017769178946118 + 23.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017769178946118[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019245097452562 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019245097452562[0m ×2 + 23.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014036176352733 + 23.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014036176352733[0m ×2 + 23.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014937304032173 + 23.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014937304032173[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015477785690168 + 23.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015477785690168[0m ×2 + 23.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018154341803597 + 23.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018154341803597[0m ×2 + 23.44sWARNcontroller_managerOverrun might occur, Total time : 3449.334 us (Expected < 1666.667 us) --> Read time : 264.485 us, Update time : 76.232 us, Write time : 3108.617 us + 23.44sWARNros2_control_nodeOverrun might occur, Total time : 3449.334 us (Expected < 1666.667 us) --> Read time : 264.485 us, Update time : 76.232 us, Write time : 3108.617 us[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017367057263131 + 23.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017367057263131[0m ×2 + 23.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018428374083533 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018428374083533[0m ×2 + 23.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017487664992436 + 23.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017487664992436[0m ×2 + 23.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016713619411435 + 23.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016713619411435[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016097954669933 + 23.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016097954669933[0m ×2 + 23.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015625087997603 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015625087997603[0m ×2 + 23.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015261625386400 + 23.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015261625386400[0m ×2 + 23.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014986061129664 + 23.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014986061129664[0m ×2 + 23.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014774748961875 + 23.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014774748961875[0m ×2 + 23.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021822633158740 + 23.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021822633158740[0m ×2 + 23.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018810593728446 + 23.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018810593728446[0m ×2 + 23.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019198571528572 + 23.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019198571528572[0m ×2 + 23.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016922974160431 + 23.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016922974160431[0m ×2 + 23.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016430818127891 + 23.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016430818127891[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022259262696307 + 23.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022259262696307[0m ×2 + 23.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018718391477954 + 23.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018718391477954[0m ×2 + 23.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016262063590386 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016262063590386[0m ×2 + 23.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014635610076273 + 23.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014635610076273[0m ×2 + 23.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020311165629945 + 23.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020311165629945[0m ×2 + 23.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017040098043438 + 23.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017040098043438[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019312202814767 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019312202814767[0m ×2 + 23.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016219156439966 + 23.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016219156439966[0m ×2 + 23.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020707729306478 + 23.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020707729306478[0m ×2 + 23.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016874196930329 + 23.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016874196930329[0m ×2 + 23.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014364876501105 + 23.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014364876501105[0m ×2 + 23.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018409556482717 + 23.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018409556482717[0m ×2 + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020504 ms (missed cycles : 2). + 23.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015250022944179 + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020504 ms (missed cycles : 2).[0m ×2 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015250022944179[0m ×2 + 23.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010877573350389 + 23.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010877573350389[0m ×2 + 23.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029103243731615 + 23.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029103243731615[0m ×2 + 23.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028510210925108 + 23.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028510210925108[0m ×2 + 23.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021403208439301 + 23.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021403208439301[0m ×2 + 23.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016561556048482 + 23.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016561556048482[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020304836488580 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020304836488580[0m ×2 + 23.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015681057969014 + 23.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015681057969014[0m ×2 + 23.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018546106226941 + 23.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018546106226941[0m ×2 + 23.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020219065914512 + 23.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020219065914512[0m ×2 + 23.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021055317970666 + 23.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021055317970666[0m ×2 + 23.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015754034583482 + 23.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015754034583482[0m ×2 + 23.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017892489252040 + 23.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017892489252040[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021380135591280 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021380135591280[0m ×2 + 23.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015809730283297 + 23.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015809730283297[0m ×2 + 23.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027782199529651 + 23.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027782199529651[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017364426702446 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017364426702446[0m ×2 + 23.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028700575912215 + 23.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028700575912215[0m ×2 + 23.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025615735367383 + 23.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025615735367383[0m ×2 + 23.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023100240225849 + 23.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023100240225849[0m ×2 + 23.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021089158422547 + 23.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021089158422547[0m ×2 + 23.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021012775167286 + 23.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021012775167286[0m ×2 + 23.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012048506045672 + 23.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012048506045672[0m ×2 + 23.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022600575070295 + 23.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022600575070295[0m ×2 + 23.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025479132373914 + 23.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025479132373914[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022124944905378 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022124944905378[0m ×2 + 23.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019602717161383 + 23.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019602717161383[0m ×2 + 23.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017788358854922 + 23.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017788358854922[0m ×2 + 23.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024407841501552 + 23.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024407841501552[0m ×2 + 24.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020293299086995 + 24.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020293299086995[0m ×2 + 24.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017724787267004 + 24.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017724787267004[0m ×2 + 24.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023272741034317 + 24.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023272741034317[0m ×2 + 24.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018977695211882 + 24.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018977695211882[0m ×2 + 24.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016105955646424 + 24.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016105955646424[0m ×2 + 24.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014054350691962 + 24.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014054350691962[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020046730488245 + 24.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020046730488245[0m ×2 + 24.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021329824625953 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021329824625953[0m ×2 + 24.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017393371971034 + 24.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017393371971034[0m ×2 + 24.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021490517792463 + 24.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021490517792463[0m ×2 + 24.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023658695042918 + 24.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023658695042918[0m ×2 + 24.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023658658449139 + 24.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023658658449139[0m ×2 + 24.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014600878959833 + 24.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014600878959833[0m ×2 + 24.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003691840747082 + 24.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003691840747082[0m ×2 + 24.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028410264023563 + 24.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028410264023563[0m ×2 + 24.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026165437860332 + 24.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026165437860332[0m ×2 + 24.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039130430829920 + 24.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039130430829920[0m ×2 + 24.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021653340019346 ×2 + 24.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021653340019346[0m ×4 + 24.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011353309371536 + 24.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011353309371536[0m ×2 + 24.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026741269652987 + 24.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026741269652987[0m ×2 + 24.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035231768876528 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035231768876528[0m ×2 + 24.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006644158646064 + 24.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006644158646064[0m ×2 + 24.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020751481970492 + 24.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020751481970492[0m ×2 + 24.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009021561952595 + 24.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009021561952595[0m ×2 + 24.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704537683543 + 24.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004704537683543[0m ×2 + 24.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036084710945112 + 24.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036084710945112[0m ×2 + 24.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028814373846503 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028814373846503[0m ×2 + 24.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013806420326953 + 24.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013806420326953[0m ×2 + 24.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013646856949216 + 24.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013646856949216[0m ×2 + 24.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020964539099335 + 24.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020964539099335[0m ×2 + 24.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031828180459870 + 24.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031828180459870[0m ×2 + 24.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024032415828109 + 24.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024032415828109[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024400339488196 + 24.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024400339488196[0m ×2 + 24.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025752994229433 + 24.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025752994229433[0m ×2 + 24.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019111759737369 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019111759737369[0m ×2 + 24.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007399529986233 + 24.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007399529986233[0m ×2 + 24.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721808718200 + 24.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001721808718200[0m ×2 + 24.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022181233503569 + 24.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022181233503569[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022318859773307 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022318859773307[0m ×2 + 24.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011604626430409 + 24.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011604626430409[0m ×2 + 24.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016211039977735 + 24.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016211039977735[0m ×2 + 24.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028393207028074 + 24.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.028393207028074[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014224371057534 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014224371057534[0m ×2 + 24.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014753319061896 + 24.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014753319061896[0m ×2 + 24.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025311348254272 + 24.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025311348254272[0m ×2 + 24.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012082025576635 + 24.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012082025576635[0m ×2 + 24.47sWARNcontroller_managerOverrun might occur, Total time : 3796.291 us (Expected < 1666.667 us) --> Read time : 343.817 us, Update time : 2885.312 us, Write time : 567.162 us + 24.47sWARNros2_control_nodeOverrun might occur, Total time : 3796.291 us (Expected < 1666.667 us) --> Read time : 343.817 us, Update time : 2885.312 us, Write time : 567.162 us[0m ×2 + 24.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013594178724004 + 24.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013594178724004[0m ×2 + 24.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001781793998446 + 24.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001781793998446[0m ×2 + 24.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013721173421624 + 24.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013721173421624[0m ×2 + 24.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009281028210187 + 24.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009281028210187[0m ×2 + 24.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859201880975 + 24.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003859201880975[0m ×2 + 24.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001035484526107 + 24.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001035484526107[0m ×2 + 24.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001666029796264 + 24.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001666029796264[0m ×2 + 24.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014062555724375 + 24.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014062555724375[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016269619002504 + 24.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016269619002504[0m ×2 + 24.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017275561744722 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017275561744722[0m ×2 + 24.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017213426877456 + 24.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017213426877456[0m ×2 + 24.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032962026775440 + 24.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032962026775440[0m ×2 + 24.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020743951539460 + 24.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020743951539460[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031680666219719 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031680666219719[0m ×2 + 24.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026679552714690 + 24.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.026679552714690[0m ×2 + 24.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013265436271845 + 24.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013265436271845[0m ×2 + 24.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007246981688605 + 24.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007246981688605[0m ×2 + 24.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333458628172 + 24.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003333458628172[0m ×2 + 24.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001582311370004 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001582311370004[0m ×2 + 24.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002433368388691 + 24.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002433368388691[0m ×2 + 24.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985957531627 + 24.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005985957531627[0m ×2 + 24.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007589390507625 + 24.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007589390507625[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011455274137219 + 24.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011455274137219[0m ×2 + 24.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013559411611141 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013559411611141[0m ×2 + 24.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007657270687642 + 24.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007657270687642[0m ×2 + 24.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010635405230668 + 24.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010635405230668[0m ×2 + 24.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012120066854081 + 24.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012120066854081[0m ×2 + 24.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648904 ms (missed cycles : 6). + 24.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.648904 ms (missed cycles : 6).[0m ×2 + 24.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012125145050404 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012125145050404[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006203989077675 + 24.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006203989077675[0m ×2 + 24.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363544887123 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000363544887123[0m ×2 + 24.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000853414920257 + 24.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000853414920257[0m ×2 + 24.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010161983479919 + 24.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010161983479919[0m ×2 + 24.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005634664999448 + 24.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005634664999448[0m ×2 + 24.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089203544863 + 24.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003089203544863[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718048846168 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718048846168[0m ×2 + 24.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951677565795 + 24.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003951677565795[0m ×2 + 24.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170190347510 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002170190347510[0m ×2 + 24.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482876331682 + 24.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001482876331682[0m ×2 + 24.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000613453071489 + 24.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000613453071489[0m ×2 + 24.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010133101943644 + 24.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010133101943644[0m ×2 + 24.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014795696379842 + 24.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014795696379842[0m ×2 + 24.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019066573015524 + 24.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019066573015524[0m ×2 + 24.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007351002488559 + 24.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007351002488559[0m ×2 + 24.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008070039829999 + 24.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008070039829999[0m ×2 + 24.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007446032413141 + 24.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007446032413141[0m ×2 + 24.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230466772278 + 24.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003230466772278[0m ×2 + 24.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001011331533647 + 24.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001011331533647[0m ×2 + 24.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024567804403 + 24.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000024567804403[0m ×2 + 24.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029023206754 + 24.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000029023206754[0m ×2 + 24.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924573916353 + 24.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924573916353[0m ×2 + 25.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825964529309 + 25.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001825964529309[0m ×2 + 25.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000206104067072 + 25.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000206104067072[0m ×2 + 25.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885835170638 + 25.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002885835170638[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022975365853 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003022975365853[0m ×2 + 25.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126229016776 + 25.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002126229016776[0m ×2 + 25.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184132082592 + 25.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004184132082592[0m ×2 + 25.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499167433748 + 25.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004499167433748[0m ×2 + 25.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007873835698881 + 25.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007873835698881[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590002329301 + 25.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004590002329301[0m ×2 + 25.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990570585938 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004990570585938[0m ×2 + 25.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007421057298711 + 25.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007421057298711[0m ×2 + 25.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914093272826 + 25.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004914093272826[0m ×2 + 25.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595146768488 + 25.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004595146768488[0m ×2 + 25.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927390819805 + 25.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000927390819805[0m ×2 + 25.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285210202637 + 25.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000285210202637[0m ×2 + 25.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594797660131 + 25.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001594797660131[0m ×2 + 25.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001097425718530 + 25.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001097425718530[0m ×2 + 25.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161266665998 + 25.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001161266665998[0m ×2 + 25.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001151459656727 + 25.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001151459656727[0m ×2 + 25.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773800466052 + 25.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004773800466052[0m ×2 + 25.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797982842429 + 25.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005797982842429[0m ×2 + 25.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029632632439 + 25.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004029632632439[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430779447129 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004430779447129[0m ×2 + 25.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578792348640 + 25.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002578792348640[0m ×2 + 25.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013567351370574 + 25.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013567351370574[0m ×2 + 25.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010152579588735 + 25.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010152579588735[0m ×2 + 25.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924185384632 + 25.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001924185384632[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635359705282 + 25.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000635359705282[0m ×2 + 25.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508882965795 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001508882965795[0m ×2 + 25.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976702448924 + 25.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001976702448924[0m ×2 + 25.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849333532976 + 25.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003849333532976[0m ×2 + 25.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828561948533 + 25.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004828561948533[0m ×2 + 25.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243276695628 + 25.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005243276695628[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890164830420 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003890164830420[0m ×2 + 25.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439347196920 + 25.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004439347196920[0m ×2 + 25.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004768928410445 + 25.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004768928410445[0m ×2 + 25.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942993597681 + 25.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003942993597681[0m ×2 + 25.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412897735002 + 25.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004412897735002[0m ×2 + 25.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718238736574 + 25.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004718238736574[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059522173901 + 25.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005059522173901[0m ×2 + 25.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114934231857 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005114934231857[0m ×2 + 25.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106545365578 + 25.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005106545365578[0m ×2 + 25.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071620831745 + 25.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005071620831745[0m ×2 + 25.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008106988837 + 25.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005008106988837[0m ×2 + 25.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004927542063203 + 25.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004927542063203[0m ×2 + 25.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004850088859735 + 25.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004850088859735[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756794505071 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004756794505071[0m ×2 + 25.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652937363277 + 25.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004652937363277[0m ×2 + 25.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545137722763 + 25.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004545137722763[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433890248857 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433890248857[0m ×2 + 25.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388100891162 + 25.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005388100891162[0m ×2 + 25.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908086550123 + 25.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004908086550123[0m ×2 + 25.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535711556213 + 25.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004535711556213[0m ×2 + 25.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644719732111 + 25.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005644719732111[0m ×2 + 25.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005891677718029 + 25.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005891677718029[0m ×2 + 25.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821331862959 + 25.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003821331862959[0m ×2 + 25.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938384107080 + 25.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004938384107080[0m ×2 + 25.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499927889627 + 25.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005499927889627[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688122318900 + 25.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005688122318900[0m ×2 + 25.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050062370527 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006050062370527[0m ×2 + 25.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826920842970 + 25.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004826920842970[0m ×2 + 25.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967553709503 + 25.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004967553709503[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943327049443 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004943327049443[0m ×2 + 25.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513511229170 + 25.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005513511229170[0m ×2 + 25.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152355932430 + 25.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005152355932430[0m ×2 + 25.65sWARNcontroller_managerOverrun might occur, Total time : 4186.770 us (Expected < 1666.667 us) --> Read time : 193.625 us, Update time : 3459.714 us, Write time : 533.431 us + 25.65sWARNros2_control_nodeOverrun might occur, Total time : 4186.770 us (Expected < 1666.667 us) --> Read time : 193.625 us, Update time : 3459.714 us, Write time : 533.431 us[0m ×2 + 25.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801758237628 + 25.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004801758237628[0m ×2 + 25.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634773728080 + 25.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004634773728080[0m ×2 + 25.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241373161966 + 25.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004241373161966[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105016879422 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005105016879422[0m ×2 + 25.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306786506666 + 25.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005306786506666[0m ×2 + 25.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433589122662 + 25.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004433589122662[0m ×2 + 25.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775871554037 + 25.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004775871554037[0m ×2 + 25.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514781453216 + 25.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003514781453216[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766063433886 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003766063433886[0m ×2 + 25.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587391365264 + 25.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004587391365264[0m ×2 + 25.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015573253161 + 25.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003015573253161[0m ×2 + 25.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029937279980 + 25.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003029937279980[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129179493516 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004129179493516[0m ×2 + 25.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498364772843 + 25.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003498364772843[0m ×2 + 25.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967354940869 + 25.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002967354940869[0m ×2 + 25.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622052 ms (missed cycles : 2). + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622052 ms (missed cycles : 2).[0m ×2 + 25.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522904690773 + 25.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002522904690773[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155327911455 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002155327911455[0m ×2 + 25.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713267140449 + 25.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002713267140449[0m ×2 + 25.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002149223837947 + 25.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002149223837947[0m ×2 + 25.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724346321041 + 25.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001724346321041[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401982967593 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001401982967593[0m ×2 + 25.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001692455397448 + 25.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001692455397448[0m ×2 + 25.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308930774914 + 25.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001308930774914[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001024208251671 + 25.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001024208251671[0m ×2 + 25.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183936501066 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001183936501066[0m ×2 + 25.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896612636720 + 25.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000896612636720[0m ×2 + 25.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684560661860 + 25.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000684560661860[0m ×2 + 25.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000529854801183 + 25.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000529854801183[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409572678843 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000409572678843[0m ×2 + 25.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255306678909 + 25.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000255306678909[0m ×2 + 25.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185656312829 + 25.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000185656312829[0m ×2 + 25.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144230859643 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000144230859643[0m ×2 + 25.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106153503315 + 25.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000106153503315[0m ×2 + 25.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085676991763 + 25.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000085676991763[0m ×2 + 25.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015345937495 + 25.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000015345937495[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025138365563 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025138365563[0m ×2 + 25.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095303570255 + 25.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095303570255[0m ×2 + 26.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095964093906 + 26.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000095964093906[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102054231143 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000102054231143[0m ×2 + 26.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167565724887 + 26.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000167565724887[0m ×2 + 26.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142227711791 + 26.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000142227711791[0m ×2 + 26.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123996268218 + 26.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000123996268218[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113325534213 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000113325534213[0m ×2 + 26.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180518954723 + 26.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000180518954723[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146332343810 + 26.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000146332343810[0m ×2 + 26.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126008023509 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126008023509[0m ×2 + 26.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190020539535 + 26.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000190020539535[0m ×2 + 26.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150330670360 + 26.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000150330670360[0m ×2 + 26.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126110809229 + 26.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126110809229[0m ×2 + 26.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046693307512 + 26.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000046693307512[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078275016181 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000078275016181[0m ×2 + 26.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136762137618 + 26.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000136762137618[0m ×2 + 26.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126724784780 + 26.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000126724784780[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117529906422 + 26.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000117529906422[0m ×2 + 26.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109853442822 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000109853442822[0m ×2 + 26.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158582080804 + 26.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000158582080804[0m ×2 + 26.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130497279252 + 26.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000130497279252[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111135707282 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000111135707282[0m ×2 + 26.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153629074284 + 26.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000153629074284[0m ×2 + 26.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121573115942 + 26.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000121573115942[0m ×2 + 26.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100197738762 + 26.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000100197738762[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056014737169 + 26.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000056014737169[0m ×2 + 26.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092734273335 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092734273335[0m ×2 + 26.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081218944634 + 26.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000081218944634[0m ×2 + 26.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073532144672 + 26.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073532144672[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067675616356 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067675616356[0m ×2 + 26.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097069515121 + 26.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000097069515121[0m ×2 + 26.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079574589465 + 26.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000079574589465[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067676677346 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000067676677346[0m ×2 + 26.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092596136301 + 26.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000092596136301[0m ×2 + 26.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073316900663 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000073316900663[0m ×2 + 26.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039429716756 + 26.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000039429716756[0m ×2 + 26.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040499830605 + 26.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040499830605[0m ×2 + 26.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040636847764 + 26.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000040636847764[0m ×2 + 26.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059834329787 + 26.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000059834329787[0m ×2 + 26.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034059361261 + 26.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034059361261[0m ×2 + 26.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034542104814 + 26.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034542104814[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034105755329 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034105755329[0m ×2 + 26.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049174189160 + 26.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000049174189160[0m ×2 + 26.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041394514679 + 26.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000041394514679[0m ×2 + 26.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035671752115 + 26.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000035671752115[0m ×2 + 26.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031453125525 + 26.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000031453125525[0m ×2 + 26.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043277437120 + 26.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000043277437120[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034925979789 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000034925979789[0m ×2 + 26.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029121852287 + 26.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000029121852287[0m ×2 + 26.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025133058456 + 26.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025133058456[0m ×2 + 26.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015347795493 + 26.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015347795493[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016699092319 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016699092319[0m ×2 + 26.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025126595595 + 26.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000025126595595[0m ×2 + 26.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021782828657 + 26.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021782828657[0m ×2 + 26.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019212264119 + 26.46sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000019212264119[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026117468041 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000026117468041[0m ×2 + 26.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021086372747 + 26.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000021086372747[0m ×2 + 26.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017527345459 + 26.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000017527345459[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015053049687 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000015053049687[0m ×2 + 26.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020498956198 + 26.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000020498956198[0m ×2 + 26.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016352939630 + 26.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000016352939630[0m ×2 + 26.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013513506019 + 26.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000013513506019[0m ×2 + 26.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005958889247 + 26.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005958889247[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007481376520 + 26.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007481376520[0m ×2 + 26.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011603612227 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011603612227[0m ×2 + 26.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010369711930 + 26.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000010369711930[0m ×2 + 26.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009300485527 + 26.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009300485527[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008392752897 + 26.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000008392752897[0m ×2 + 26.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011469527136 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000011469527136[0m ×2 + 26.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009351416397 + 26.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000009351416397[0m ×2 + 26.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007817841949 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007817841949[0m ×2 + 26.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006733266626 + 26.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006733266626[0m ×2 + 26.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005957746634 + 26.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005957746634[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005397534882 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005397534882[0m ×2 + 26.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007537907619 + 26.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000007537907619[0m ×2 + 26.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006165534821 + 26.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006165534821[0m ×2 + 26.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005199487327 + 26.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000005199487327[0m ×2 + 26.66sWARNcontroller_managerOverrun might occur, Total time : 2126.306 us (Expected < 1666.667 us) --> Read time : 195.875 us, Update time : 1465.921 us, Write time : 464.510 us + 26.66sWARNros2_control_nodeOverrun might occur, Total time : 2126.306 us (Expected < 1666.667 us) --> Read time : 195.875 us, Update time : 1465.921 us, Write time : 464.510 us[0m ×2 + 26.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006985702754 + 26.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000006985702754[0m ×2 + 26.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002574799112 + 26.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002574799112[0m ×2 + 26.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002912707830 + 26.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002912707830[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002291481456 + 26.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002291481456[0m ×2 + 26.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003703175850 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003703175850[0m ×2 + 26.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003417035678 + 26.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003417035678[0m ×2 + 26.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003119402997 + 26.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000003119402997[0m ×2 + 26.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002856529677 + 26.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002856529677[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001837830060 + 26.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001837830060[0m ×2 + 26.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001971806982 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001971806982[0m ×2 + 26.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002006477507 + 26.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002006477507[0m ×2 + 26.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001974652058 + 26.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001974652058[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001904758894 + 26.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001904758894[0m ×2 + 26.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002674647368 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002674647368[0m ×2 + 26.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002246287915 + 26.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002246287915[0m ×2 + 26.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001921977798 + 26.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001921977798[0m ×2 + 26.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001683140804 + 26.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001683140804[0m ×2 + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613758 ms (missed cycles : 3). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613758 ms (missed cycles : 3).[0m ×2 + 26.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002288803932 + 26.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000002288803932[0m ×2 + 26.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001847712262 + 26.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001847712262[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001536570516 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001536570516[0m ×2 + 26.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001322901523 + 26.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001322901523[0m ×2 + 26.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001173563175 + 26.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001173563175[0m ×2 + 26.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001067904686 + 26.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001067904686[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000988543350 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000988543350[0m ×2 + 26.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001390725902 + 26.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001390725902[0m ×2 + 26.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001148550073 + 26.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001148550073[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000976158679 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000976158679[0m ×2 + 26.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001310531786 + 26.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001310531786[0m ×2 + 26.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001041724339 + 26.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001041724339[0m ×2 + 26.93sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000856514664 + 26.93sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000856514664[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001135687690 + 26.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000001135687690[0m ×2 + 26.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000409806787 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000409806787[0m ×2 + 26.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000459257071 + 26.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000459257071[0m ×2 + 26.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000482259301 + 26.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000482259301[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000480665567 + 26.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000480665567[0m ×2 + 26.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000683487291 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000683487291[0m ×2 + 27.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000577551230 + 27.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000577551230[0m ×2 + 27.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000496687083 + 27.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000496687083[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000435788041 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000435788041[0m ×2 + 27.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000590588448 + 27.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000590588448[0m ×2 + 27.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000476044267 + 27.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000476044267[0m ×2 + 27.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000394888867 + 27.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000394888867[0m ×2 + 27.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000230338153 + 27.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000230338153[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000239865023 + 27.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000239865023[0m ×2 + 27.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000354922125 + 27.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000354922125[0m ×2 + 27.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000304375486 + 27.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000304375486[0m ×2 + 27.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000266240144 + 27.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000266240144[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237534479 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000237534479[0m ×2 + 27.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215350175 + 27.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000215350175[0m ×2 + 27.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000197786311 + 27.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000197786311[0m ×2 + 27.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183293304 + 27.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183293304[0m ×2 + 27.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256308626 + 27.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000256308626[0m ×2 + 27.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142203971 + 27.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000142203971[0m ×2 + 27.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000138723694 + 27.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000138723694[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000134458779 + 27.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000134458779[0m ×2 + 27.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000191106317 + 27.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000191106317[0m ×2 + 27.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160173480 + 27.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000160173480[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137069271 + 27.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000137069271[0m ×2 + 27.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183999858 + 27.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000183999858[0m ×2 + 27.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000146562470 + 27.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000146562470[0m ×2 + 27.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120417182 + 27.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000120417182[0m ×2 + 27.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000793550669 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000793550669[0m ×2 + 27.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000139377320 + 27.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000139377320[0m ×2 + 27.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000791949477 + 27.23sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000791949477[0m ×2 + 27.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000712598590 + 27.24sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000712598590[0m ×2 + 27.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121920832 + 27.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000000121920832[0m ×2 + 27.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000700766377 + 27.25sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000700766377[0m ×2 + 27.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000626074109 + 27.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000626074109[0m ×2 + 27.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000688222431 + 27.26sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000688222431[0m ×2 + 27.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000609036421 + 27.27sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000609036421[0m ×2 + 27.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000541179077 + 27.29sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000541179077[0m ×2 + 27.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000482755245 + 27.30sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000482755245[0m ×2 + 27.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000352510809 + 27.31sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000352510809[0m ×2 + 27.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000323734914 + 27.32sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000323734914[0m ×2 + 27.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000364482505 + 27.33sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000364482505[0m ×2 + 27.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000329404552 + 27.36sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000329404552[0m ×2 + 27.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164820619 + 27.37sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164820619[0m ×2 + 27.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000163373466 + 27.38sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000163373466[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000160571713 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000160571713[0m ×2 + 27.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000189352197 + 27.39sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000189352197[0m ×2 + 27.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178962114 + 27.40sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178962114[0m ×2 + 27.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000169081572 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000169081572[0m ×2 + 27.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000193467920 + 27.41sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000193467920[0m ×2 + 27.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178298292 + 27.42sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000178298292[0m ×2 + 27.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164582814 + 27.43sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000164582814[0m ×2 + 27.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000185126639 + 27.43sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000185126639[0m ×2 + 27.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000167852555 + 27.44sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000167852555[0m ×2 + 27.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000152593184 + 27.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000152593184[0m ×2 + 27.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000169798706 + 27.45sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000169798706[0m ×2 + 27.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000152236107 + 27.46sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000152236107[0m ×2 + 27.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136942022 + 27.49sERRORros2_control_nodeVelocity of last trajectory point of joint shoulder_pan_joint is not zero: 0.000000136942022[0m ×2 + 27.50sINFOjoint_trajectory_controllerAccepted new action goal ×714 + 27.50sINFOros2_control_nodeAccepted new action goal[0m ×1428 + 27.67sWARNcontroller_managerOverrun might occur, Total time : 5918.757 us (Expected < 1666.667 us) --> Read time : 209.305 us, Update time : 5128.540 us, Write time : 580.912 us + 27.67sWARNros2_control_nodeOverrun might occur, Total time : 5918.757 us (Expected < 1666.667 us) --> Read time : 209.305 us, Update time : 5128.540 us, Write time : 580.912 us[0m ×2 + 27.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712602 ms (missed cycles : 2). + 27.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712602 ms (missed cycles : 2).[0m ×2 + 28.70sWARNcontroller_managerOverrun might occur, Total time : 2464.762 us (Expected < 1666.667 us) --> Read time : 166.233 us, Update time : 61.251 us, Write time : 2237.278 us + 28.70sWARNros2_control_nodeOverrun might occur, Total time : 2464.762 us (Expected < 1666.667 us) --> Read time : 166.233 us, Update time : 61.251 us, Write time : 2237.278 us[0m ×2 + 28.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781384 ms (missed cycles : 3). + 28.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781384 ms (missed cycles : 3).[0m ×2 + 29.82sWARNcontroller_managerOverrun might occur, Total time : 3362.242 us (Expected < 1666.667 us) --> Read time : 461.530 us, Update time : 1023.892 us, Write time : 1876.820 us + 29.82sWARNros2_control_nodeOverrun might occur, Total time : 3362.242 us (Expected < 1666.667 us) --> Read time : 461.530 us, Update time : 1023.892 us, Write time : 1876.820 us[0m ×2 + 29.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720218 ms (missed cycles : 2). + 29.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720218 ms (missed cycles : 2).[0m ×2 + 30.84sWARNcontroller_managerOverrun might occur, Total time : 2049.624 us (Expected < 1666.667 us) --> Read time : 294.057 us, Update time : 771.986 us, Write time : 983.581 us + 30.84sWARNros2_control_nodeOverrun might occur, Total time : 2049.624 us (Expected < 1666.667 us) --> Read time : 294.057 us, Update time : 771.986 us, Write time : 983.581 us[0m ×2 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580371 ms (missed cycles : 3). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580371 ms (missed cycles : 3).[0m ×2 + 31.87sWARNcontroller_managerOverrun might occur, Total time : 2301.819 us (Expected < 1666.667 us) --> Read time : 169.333 us, Update time : 1616.885 us, Write time : 515.601 us + 31.88sWARNros2_control_nodeOverrun might occur, Total time : 2301.819 us (Expected < 1666.667 us) --> Read time : 169.333 us, Update time : 1616.885 us, Write time : 515.601 us[0m ×2 + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847199 ms (missed cycles : 3). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847199 ms (missed cycles : 3).[0m ×2 + 32.93sWARNcontroller_managerOverrun might occur, Total time : 7051.691 us (Expected < 1666.667 us) --> Read time : 325.877 us, Update time : 6121.501 us, Write time : 604.313 us + 32.94sWARNros2_control_nodeOverrun might occur, Total time : 7051.691 us (Expected < 1666.667 us) --> Read time : 325.877 us, Update time : 6121.501 us, Write time : 604.313 us[0m ×2 + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298397 ms (missed cycles : 2). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298397 ms (missed cycles : 2).[0m ×2 + 33.95sWARNcontroller_managerOverrun might occur, Total time : 1985.612 us (Expected < 1666.667 us) --> Read time : 493.440 us, Update time : 145.863 us, Write time : 1346.309 us + 33.95sWARNros2_control_nodeOverrun might occur, Total time : 1985.612 us (Expected < 1666.667 us) --> Read time : 493.440 us, Update time : 145.863 us, Write time : 1346.309 us[0m ×2 + 34.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110884 ms (missed cycles : 2). + 34.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110884 ms (missed cycles : 2).[0m ×2 + 34.06sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780433621.87589836 seconds ×3 + 34.57sINFOjoint_trajectory_controllerGoal reached, success! + 34.57sINFOros2_control_nodeGoal reached, success![0m ×2 + 34.71sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780433622.52652359 seconds. ×3 + 34.72sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 34.72sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911389 ms (missed cycles : 2). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911389 ms (missed cycles : 2).[0m ×2 + 35.05sWARNcontroller_managerOverrun might occur, Total time : 2089.985 us (Expected < 1666.667 us) --> Read time : 165.733 us, Update time : 1491.252 us, Write time : 433.000 us + 35.05sWARNros2_control_nodeOverrun might occur, Total time : 2089.985 us (Expected < 1666.667 us) --> Read time : 165.733 us, Update time : 1491.252 us, Write time : 433.000 us[0m ×2 + 35.88sINFOobjective_server_nodeFound path in 6 iterations (0.00502663 s). ×2 + 35.94sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 35.96sINFOros2_control_node[2026-06-02 20:53:43.772] [info] Received new action goal ×2 + 35.96sINFOros2_control_node[2026-06-02 20:53:43.772] [info] Accepted new action goal ×2 + 36.09sWARNcontroller_managerOverrun might occur, Total time : 4183.110 us (Expected < 1666.667 us) --> Read time : 171.674 us, Update time : 3531.455 us, Write time : 479.981 us + 36.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394136 ms (missed cycles : 3). + 36.09sWARNros2_control_nodeOverrun might occur, Total time : 4183.110 us (Expected < 1666.667 us) --> Read time : 171.674 us, Update time : 3531.455 us, Write time : 479.981 us[0m ×2 + 36.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394136 ms (missed cycles : 3).[0m ×2 + 37.09sWARNcontroller_managerOverrun might occur, Total time : 4518.096 us (Expected < 1666.667 us) --> Read time : 206.614 us, Update time : 3692.429 us, Write time : 619.053 us + 37.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752496 ms (missed cycles : 3). + 37.09sWARNros2_control_nodeOverrun might occur, Total time : 4518.096 us (Expected < 1666.667 us) --> Read time : 206.614 us, Update time : 3692.429 us, Write time : 619.053 us[0m ×2 + 37.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752496 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object | apriltag_pick_object.xml | 27.7s | 3 errors · 189 warnings · 120 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×4 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4).[0m ×2 + 7.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241001 ms (missed cycles : 4). + 7.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.241001 ms (missed cycles : 4).[0m ×2 + 7.38sWARNcontroller_managerOverrun might occur, Total time : 2405.582 us (Expected < 1666.667 us) --> Read time : 209.755 us, Update time : 1686.566 us, Write time : 509.261 us + 7.39sWARNros2_control_nodeOverrun might occur, Total time : 2405.582 us (Expected < 1666.667 us) --> Read time : 209.755 us, Update time : 1686.566 us, Write time : 509.261 us[0m ×2 + 8.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743473 ms (missed cycles : 2). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743473 ms (missed cycles : 2).[0m ×2 + 8.76sWARNcontroller_managerOverrun might occur, Total time : 1706.737 us (Expected < 1666.667 us) --> Read time : 801.447 us, Update time : 73.592 us, Write time : 831.698 us + 8.76sWARNros2_control_nodeOverrun might occur, Total time : 1706.737 us (Expected < 1666.667 us) --> Read time : 801.447 us, Update time : 73.592 us, Write time : 831.698 us[0m ×2 + 9.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822138 ms (missed cycles : 3). + 9.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822138 ms (missed cycles : 3).[0m ×2 + 9.88sWARNcontroller_managerOverrun might occur, Total time : 4521.248 us (Expected < 1666.667 us) --> Read time : 3866.464 us, Update time : 68.542 us, Write time : 586.242 us + 9.88sWARNros2_control_nodeOverrun might occur, Total time : 4521.248 us (Expected < 1666.667 us) --> Read time : 3866.464 us, Update time : 68.542 us, Write time : 586.242 us[0m ×2 + 10.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668958 ms (missed cycles : 2). + 10.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668958 ms (missed cycles : 2).[0m ×2 + 10.89sWARNcontroller_managerOverrun might occur, Total time : 1784.328 us (Expected < 1666.667 us) --> Read time : 247.885 us, Update time : 411.109 us, Write time : 1125.334 us + 10.89sWARNros2_control_nodeOverrun might occur, Total time : 1784.328 us (Expected < 1666.667 us) --> Read time : 247.885 us, Update time : 411.109 us, Write time : 1125.334 us[0m ×2 + 11.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943613 ms (missed cycles : 2). + 11.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.943613 ms (missed cycles : 2).[0m ×2 + 12.21sWARNcontroller_managerOverrun might occur, Total time : 9086.276 us (Expected < 1666.667 us) --> Read time : 270.865 us, Update time : 8194.617 us, Write time : 620.794 us + 12.21sWARNros2_control_nodeOverrun might occur, Total time : 9086.276 us (Expected < 1666.667 us) --> Read time : 270.865 us, Update time : 8194.617 us, Write time : 620.794 us[0m ×2 + 12.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711326 ms (missed cycles : 5). + 12.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.711326 ms (missed cycles : 5).[0m ×2 + 13.26sWARNcontroller_managerOverrun might occur, Total time : 1783.259 us (Expected < 1666.667 us) --> Read time : 858.419 us, Update time : 142.443 us, Write time : 782.397 us + 13.26sWARNros2_control_nodeOverrun might occur, Total time : 1783.259 us (Expected < 1666.667 us) --> Read time : 858.419 us, Update time : 142.443 us, Write time : 782.397 us[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769907 ms (missed cycles : 5). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.769907 ms (missed cycles : 5).[0m ×2 + 14.32sWARNcontroller_managerOverrun might occur, Total time : 2258.929 us (Expected < 1666.667 us) --> Read time : 229.355 us, Update time : 1341.779 us, Write time : 687.795 us + 14.32sWARNros2_control_nodeOverrun might occur, Total time : 2258.929 us (Expected < 1666.667 us) --> Read time : 229.355 us, Update time : 1341.779 us, Write time : 687.795 us[0m ×2 + 14.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412603 ms (missed cycles : 3). + 14.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.412603 ms (missed cycles : 3).[0m ×2 + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655973 ms (missed cycles : 5). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.655973 ms (missed cycles : 5).[0m ×2 + 15.50sWARNcontroller_managerOverrun might occur, Total time : 4180.990 us (Expected < 1666.667 us) --> Read time : 232.485 us, Update time : 3346.792 us, Write time : 601.713 us + 15.51sWARNros2_control_nodeOverrun might occur, Total time : 4180.990 us (Expected < 1666.667 us) --> Read time : 232.485 us, Update time : 3346.792 us, Write time : 601.713 us[0m ×2 + 16.54sWARNcontroller_managerOverrun might occur, Total time : 2230.989 us (Expected < 1666.667 us) --> Read time : 542.142 us, Update time : 679.735 us, Write time : 1009.112 us + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600273 ms (missed cycles : 2). + 16.54sWARNros2_control_nodeOverrun might occur, Total time : 2230.989 us (Expected < 1666.667 us) --> Read time : 542.142 us, Update time : 679.735 us, Write time : 1009.112 us[0m ×2 + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.600273 ms (missed cycles : 2).[0m ×2 + 17.55sWARNcontroller_managerOverrun might occur, Total time : 2032.323 us (Expected < 1666.667 us) --> Read time : 479.340 us, Update time : 283.526 us, Write time : 1269.457 us + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511879 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun might occur, Total time : 2032.323 us (Expected < 1666.667 us) --> Read time : 479.340 us, Update time : 283.526 us, Write time : 1269.457 us[0m ×2 + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.511879 ms (missed cycles : 2).[0m ×2 + 18.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149736 ms (missed cycles : 4). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.149736 ms (missed cycles : 4).[0m ×2 + 18.72sWARNcontroller_managerOverrun might occur, Total time : 1740.898 us (Expected < 1666.667 us) --> Read time : 468.820 us, Update time : 85.962 us, Write time : 1186.116 us + 18.72sWARNros2_control_nodeOverrun might occur, Total time : 1740.898 us (Expected < 1666.667 us) --> Read time : 468.820 us, Update time : 85.962 us, Write time : 1186.116 us[0m ×2 + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368991 ms (missed cycles : 5). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.368991 ms (missed cycles : 5).[0m ×2 + 20.00sWARNcontroller_managerOverrun might occur, Total time : 1837.719 us (Expected < 1666.667 us) --> Read time : 381.848 us, Update time : 85.522 us, Write time : 1370.349 us + 20.00sWARNros2_control_nodeOverrun might occur, Total time : 1837.719 us (Expected < 1666.667 us) --> Read time : 381.848 us, Update time : 85.522 us, Write time : 1370.349 us[0m ×2 + 20.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173819 ms (missed cycles : 2). + 20.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173819 ms (missed cycles : 2).[0m ×2 + 21.02sWARNcontroller_managerOverrun might occur, Total time : 2396.352 us (Expected < 1666.667 us) --> Read time : 156.654 us, Update time : 1805.739 us, Write time : 433.959 us + 21.02sWARNros2_control_nodeOverrun might occur, Total time : 2396.352 us (Expected < 1666.667 us) --> Read time : 156.654 us, Update time : 1805.739 us, Write time : 433.959 us[0m ×2 + 21.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.136661 ms (missed cycles : 7). + 21.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.136661 ms (missed cycles : 7).[0m ×2 + 22.33sWARNcontroller_managerOverrun might occur, Total time : 4894.575 us (Expected < 1666.667 us) --> Read time : 240.806 us, Update time : 4122.698 us, Write time : 531.071 us + 22.33sWARNros2_control_nodeOverrun might occur, Total time : 4894.575 us (Expected < 1666.667 us) --> Read time : 240.806 us, Update time : 4122.698 us, Write time : 531.071 us[0m ×2 + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811159 ms (missed cycles : 5). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.811159 ms (missed cycles : 5).[0m ×2 + 23.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605078 ms (missed cycles : 3). + 23.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605078 ms (missed cycles : 3).[0m ×2 + 23.84sWARNcontroller_managerOverrun might occur, Total time : 4152.170 us (Expected < 1666.667 us) --> Read time : 256.236 us, Update time : 3356.032 us, Write time : 539.902 us + 23.84sWARNros2_control_nodeOverrun might occur, Total time : 4152.170 us (Expected < 1666.667 us) --> Read time : 256.236 us, Update time : 3356.032 us, Write time : 539.902 us[0m ×2 + 24.57sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 24.57sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 24.58sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 24.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109660 ms (missed cycles : 4). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.109660 ms (missed cycles : 4).[0m ×2 + 24.86sINFOobjective_server_nodeFound path in 0 iterations (6e-07 s). ×2 + 24.86sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 24.87sWARNcontroller_managerOverrun might occur, Total time : 1701.456 us (Expected < 1666.667 us) --> Read time : 176.653 us, Update time : 1119.635 us, Write time : 405.168 us + 24.87sWARNros2_control_nodeOverrun might occur, Total time : 1701.456 us (Expected < 1666.667 us) --> Read time : 176.653 us, Update time : 1119.635 us, Write time : 405.168 us[0m ×2 + 24.87sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 24.89sINFOobjective_server_nodeFound path in 0 iterations (6.2e-07 s). ×2 + 24.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 24.94sINFOobjective_server_nodeFound path in 1 iterations (0.00291395 s). ×2 + 25.02sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 25.09sINFOros2_control_node[2026-06-02 20:50:31.958] [info] Received new action goal ×2 + 25.09sINFOros2_control_node[2026-06-02 20:50:31.958] [info] Accepted new action goal ×2 + 25.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680407 ms (missed cycles : 2). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.680407 ms (missed cycles : 2).[0m ×2 + 26.21sWARNcontroller_managerOverrun might occur, Total time : 5491.610 us (Expected < 1666.667 us) --> Read time : 222.625 us, Update time : 77.402 us, Write time : 5191.583 us + 26.21sWARNros2_control_nodeOverrun might occur, Total time : 5491.610 us (Expected < 1666.667 us) --> Read time : 222.625 us, Update time : 77.402 us, Write time : 5191.583 us[0m ×2 + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869620 ms (missed cycles : 2). + 27.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.869620 ms (missed cycles : 2).[0m ×2 + 27.29sWARNcontroller_managerOverrun might occur, Total time : 2064.875 us (Expected < 1666.667 us) --> Read time : 272.366 us, Update time : 118.392 us, Write time : 1674.117 us + 27.30sWARNros2_control_nodeOverrun might occur, Total time : 2064.875 us (Expected < 1666.667 us) --> Read time : 272.366 us, Update time : 118.392 us, Write time : 1674.117 us[0m ×2 + 27.61sINFOros2_control_node[2026-06-02 20:50:34.481] [info] Received new action goal ×2 + 27.61sINFOros2_control_node[2026-06-02 20:50:34.481] [info] Accepted new action goal ×2 + 28.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.824335 ms (missed cycles : 8). + 28.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.824335 ms (missed cycles : 8).[0m ×2 + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6). + 29.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6).[0m ×2 + 29.20sWARNcontroller_managerOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us + 29.21sWARNros2_control_nodeOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us[0m ×2 + 29.37sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 29.38sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Received new action goal ×2 + 29.38sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Accepted new action goal ×2 + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6). + 30.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6).[0m ×2 + 30.21sWARNcontroller_managerOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us + 30.22sWARNros2_control_nodeOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us[0m ×2 + 30.77sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780433437.63561249 seconds ×3 + 31.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3). + 31.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3).[0m ×2 + 31.37sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780433438.23518419 seconds. ×3 + 31.42sWARNcontroller_managerOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us + 31.42sWARNros2_control_nodeOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us[0m ×2 + 31.47sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780433438.33532429 seconds ×3 + 32.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780433438.93439817 seconds. ×3 + 32.17sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 32.17sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 32.19sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Received new action goal ×2 + 32.19sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Accepted new action goal ×2 + 32.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2). + 32.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2).[0m ×2 + 32.48sWARNcontroller_managerOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us + 32.48sWARNros2_control_nodeOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us[0m ×2 + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5).[0m ×2 + 33.52sWARNcontroller_managerOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us + 33.53sWARNros2_control_nodeOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us[0m ×2 + 34.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Load and Execute Joint Trajectory | load_and_execute_joint_trajectory.xml | 11.8s | 3 errors · 108 warnings · 84 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621250 ms (missed cycles : 6).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 2193.527 us (Expected < 1666.667 us) --> Read time : 339.827 us, Update time : 1415.890 us, Write time : 437.810 us + 0.47sWARNros2_control_nodeOverrun might occur, Total time : 2193.527 us (Expected < 1666.667 us) --> Read time : 339.827 us, Update time : 1415.890 us, Write time : 437.810 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274549 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274549 ms (missed cycles : 4).[0m ×2 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 1702.446 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 564.152 us, Write time : 905.279 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 1702.446 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 564.152 us, Write time : 905.279 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739582 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739582 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070624 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070624 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun might occur, Total time : 4375.274 us (Expected < 1666.667 us) --> Read time : 272.105 us, Update time : 3424.444 us, Write time : 678.725 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 4375.274 us (Expected < 1666.667 us) --> Read time : 272.105 us, Update time : 3424.444 us, Write time : 678.725 us[0m ×2 + 3.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780433471.07505798 seconds ×3 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 3.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780433471.63292265 seconds. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.82sINFOros2_control_node[2026-06-02 20:51:11.777] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-06-02 20:51:11.777] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963603 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963603 ms (missed cycles : 3).[0m ×2 + 4.17sWARNcontroller_managerOverrun might occur, Total time : 8728.357 us (Expected < 1666.667 us) --> Read time : 280.016 us, Update time : 7830.738 us, Write time : 617.603 us + 4.17sWARNros2_control_nodeOverrun might occur, Total time : 8728.357 us (Expected < 1666.667 us) --> Read time : 280.016 us, Update time : 7830.738 us, Write time : 617.603 us[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816814 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816814 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun might occur, Total time : 2126.934 us (Expected < 1666.667 us) --> Read time : 206.694 us, Update time : 1510.482 us, Write time : 409.758 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 2126.934 us (Expected < 1666.667 us) --> Read time : 206.694 us, Update time : 1510.482 us, Write time : 409.758 us[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685226 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685226 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 2856.951 us (Expected < 1666.667 us) --> Read time : 338.217 us, Update time : 1900.821 us, Write time : 617.913 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 2856.951 us (Expected < 1666.667 us) --> Read time : 338.217 us, Update time : 1900.821 us, Write time : 617.913 us[0m ×2 + 6.31sINFOros2_control_node[2026-06-02 20:51:14.258] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-06-02 20:51:14.259] [info] Accepted new action goal ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375830 ms (missed cycles : 3). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375830 ms (missed cycles : 3).[0m ×2 + 7.68sWARNcontroller_managerOverrun might occur, Total time : 2017.434 us (Expected < 1666.667 us) --> Read time : 185.894 us, Update time : 835.218 us, Write time : 996.322 us + 7.68sWARNros2_control_nodeOverrun might occur, Total time : 2017.434 us (Expected < 1666.667 us) --> Read time : 185.894 us, Update time : 835.218 us, Write time : 996.322 us[0m ×2 + 8.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775712 ms (missed cycles : 2). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775712 ms (missed cycles : 2).[0m ×2 + 8.97sWARNcontroller_managerOverrun might occur, Total time : 8528.153 us (Expected < 1666.667 us) --> Read time : 337.098 us, Update time : 7644.613 us, Write time : 546.442 us + 8.97sWARNros2_control_nodeOverrun might occur, Total time : 8528.153 us (Expected < 1666.667 us) --> Read time : 337.098 us, Update time : 7644.613 us, Write time : 546.442 us[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.153658 ms (missed cycles : 7). + 9.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.153658 ms (missed cycles : 7).[0m ×2 + 10.06sWARNcontroller_managerOverrun might occur, Total time : 1947.702 us (Expected < 1666.667 us) --> Read time : 227.365 us, Update time : 38.291 us, Write time : 1682.046 us + 10.06sWARNros2_control_nodeOverrun might occur, Total time : 1947.702 us (Expected < 1666.667 us) --> Read time : 227.365 us, Update time : 38.291 us, Write time : 1682.046 us[0m ×2 + 10.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878738 ms (missed cycles : 3). + 10.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878738 ms (missed cycles : 3).[0m ×2 + 11.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173325 ms (missed cycles : 4). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173325 ms (missed cycles : 4).[0m ×2 + 11.31sWARNcontroller_managerOverrun might occur, Total time : 2095.945 us (Expected < 1666.667 us) --> Read time : 180.794 us, Update time : 1474.932 us, Write time : 440.219 us + 11.31sWARNros2_control_nodeOverrun might occur, Total time : 2095.945 us (Expected < 1666.667 us) --> Read time : 180.794 us, Update time : 1474.932 us, Write time : 440.219 us[0m ×2 + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3).[0m ×2 + 12.70sWARNcontroller_managerOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us + 12.70sWARNros2_control_nodeOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us[0m ×2 + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2).[0m ×2 + 13.71sWARNcontroller_managerOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us + 13.71sWARNros2_control_nodeOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us[0m ×2 + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2).[0m ×2 + 14.72sWARNcontroller_managerOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us + 14.72sWARNros2_control_nodeOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us[0m ×2 + 14.88sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780433482.82992744 seconds ×3 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2).[0m ×2 + 15.52sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433483.46986151 seconds. ×3 + 15.56sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.56sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.56sINFOcontroller_managerSuccessfully switched controllers! ×2 + 15.56sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.56sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.56sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 15.57sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 15.57sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 15.58sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.58sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 15.59sWARNcontroller_managerOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us + 15.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 15.59sWARNros2_control_nodeOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us[0m ×2 + 15.60sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433483.55000639 seconds ×3 + 16.04sWARNcontroller_managerOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us + 16.04sWARNros2_control_nodeOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us[0m ×2 + 16.17sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433484.12150717 seconds. ×3 + 16.29sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 16.29sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4). + 16.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4).[0m ×2 + 16.30sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Received new action goal ×2 + 16.30sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Accepted new action goal ×2 + 17.12sWARNcontroller_managerOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us + 17.12sWARNros2_control_nodeOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us[0m ×2 + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5).[0m ×2 + 18.31sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433486.26165390 seconds ×3 + 18.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8). + 18.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8).[0m ×2 + 18.49sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us + 18.49sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us[0m ×2 | ||||
| ✓ passed | Push Button | move_with_velocity_and_force.xml | 11.7s | 108 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 10712.779 us (Expected < 1666.667 us) --> Read time : 129.823 us, Update time : 40.471 us, Write time : 10542.485 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 10712.779 us (Expected < 1666.667 us) --> Read time : 129.823 us, Update time : 40.471 us, Write time : 10542.485 us[0m ×2 + 0.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221788 ms (missed cycles : 4). + 0.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.221788 ms (missed cycles : 4).[0m ×2 + 1.03sWARNcontroller_managerOverrun might occur, Total time : 1863.080 us (Expected < 1666.667 us) --> Read time : 200.275 us, Update time : 770.646 us, Write time : 892.159 us + 1.04sWARNros2_control_nodeOverrun might occur, Total time : 1863.080 us (Expected < 1666.667 us) --> Read time : 200.275 us, Update time : 770.646 us, Write time : 892.159 us[0m ×2 + 1.17sINFOobjective_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 + 1.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.17sINFOcontroller_managerDeactivating controllers: [ velocity_force_controller ] ×2 + 1.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.17sINFOros2_control_nodeDeactivating controllers: [ velocity_force_controller ][0m ×4 + 1.17sINFOcontroller_managerDeactivated controllers: [ velocity_force_controller ] ×2 + 1.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 1.17sINFOcontroller_managerSuccessfully switched controllers! ×4 + 1.18sINFOros2_control_nodeDeactivated controllers: [ velocity_force_controller ][0m ×4 + 1.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 1.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 1.18sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.19sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095609 ms (missed cycles : 3). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.095609 ms (missed cycles : 3).[0m ×2 + 2.20sWARNcontroller_managerOverrun might occur, Total time : 2014.653 us (Expected < 1666.667 us) --> Read time : 233.825 us, Update time : 1380.960 us, Write time : 399.868 us + 2.20sWARNros2_control_nodeOverrun might occur, Total time : 2014.653 us (Expected < 1666.667 us) --> Read time : 233.825 us, Update time : 1380.960 us, Write time : 399.868 us[0m ×2 + 2.24sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 2.27sINFOros2_control_node[2026-06-02 20:52:18.337] [info] Received new action goal ×2 + 2.27sINFOros2_control_node[2026-06-02 20:52:18.337] [info] Accepted new action goal ×2 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564687 ms (missed cycles : 3). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.564687 ms (missed cycles : 3).[0m ×2 + 3.42sWARNcontroller_managerOverrun might occur, Total time : 2077.465 us (Expected < 1666.667 us) --> Read time : 169.244 us, Update time : 1436.351 us, Write time : 471.870 us + 3.42sWARNros2_control_nodeOverrun might occur, Total time : 2077.465 us (Expected < 1666.667 us) --> Read time : 169.244 us, Update time : 1436.351 us, Write time : 471.870 us[0m ×2 + 3.44sINFOobjective_server_nodeObjective `Move Flasks to Burners` succeeded at time: 1780433539.51279116 seconds ×3 + 3.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418936 ms (missed cycles : 2). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418936 ms (missed cycles : 2).[0m ×2 + 4.17sINFOobjective_server_nodeObjective `Push Button` starting at time: 1780433540.23985696 seconds. ×3 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1766.768 us (Expected < 1666.667 us) --> Read time : 292.447 us, Update time : 69.671 us, Write time : 1404.650 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1766.768 us (Expected < 1666.667 us) --> Read time : 292.447 us, Update time : 69.671 us, Write time : 1404.650 us[0m ×2 + 5.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858705 ms (missed cycles : 2). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858705 ms (missed cycles : 2).[0m ×2 + 5.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.39sINFOobjective_server_nodePath shortcutter: [X__________________________X] ×2 + 5.40sINFOros2_control_node[2026-06-02 20:52:21.475] [info] Received new action goal ×2 + 5.40sINFOros2_control_node[2026-06-02 20:52:21.475] [info] Accepted new action goal ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 1860.990 us (Expected < 1666.667 us) --> Read time : 258.555 us, Update time : 78.142 us, Write time : 1524.293 us + 6.03sWARNros2_control_nodeOverrun might occur, Total time : 1860.990 us (Expected < 1666.667 us) --> Read time : 258.555 us, Update time : 78.142 us, Write time : 1524.293 us[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222427 ms (missed cycles : 3). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222427 ms (missed cycles : 3).[0m ×2 + 7.08sWARNcontroller_managerOverrun might occur, Total time : 2099.885 us (Expected < 1666.667 us) --> Read time : 533.082 us, Update time : 301.886 us, Write time : 1264.917 us + 7.08sWARNros2_control_nodeOverrun might occur, Total time : 2099.885 us (Expected < 1666.667 us) --> Read time : 533.082 us, Update time : 301.886 us, Write time : 1264.917 us[0m ×2 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773116 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773116 ms (missed cycles : 2).[0m ×2 + 8.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595198 ms (missed cycles : 2). + 8.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.595198 ms (missed cycles : 2).[0m ×2 + 8.21sWARNcontroller_managerOverrun might occur, Total time : 2218.307 us (Expected < 1666.667 us) --> Read time : 1166.075 us, Update time : 84.552 us, Write time : 967.680 us + 8.22sWARNros2_control_nodeOverrun might occur, Total time : 2218.307 us (Expected < 1666.667 us) --> Read time : 1166.075 us, Update time : 84.552 us, Write time : 967.680 us[0m ×2 + 9.10sINFOobjective_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 + 9.10sINFOcontroller_managerActivating controllers: [ velocity_force_controller ] + 9.10sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.10sINFOros2_control_nodeActivating controllers: [ velocity_force_controller ][0m ×2 + 9.10sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.10sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 9.10sINFOcontroller_managerActivated controllers: [ velocity_force_controller ] + 9.10sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 9.10sINFOros2_control_nodeActivated controllers: [ velocity_force_controller ][0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711859 ms (missed cycles : 2). + 9.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.711859 ms (missed cycles : 2).[0m ×2 + 9.22sWARNcontroller_managerOverrun might occur, Total time : 1752.928 us (Expected < 1666.667 us) --> Read time : 333.478 us, Update time : 99.322 us, Write time : 1320.128 us + 9.22sWARNros2_control_nodeOverrun might occur, Total time : 1752.928 us (Expected < 1666.667 us) --> Read time : 333.478 us, Update time : 99.322 us, Write time : 1320.128 us[0m ×2 + 10.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013762 ms (missed cycles : 3). + 10.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.013762 ms (missed cycles : 3).[0m ×2 + 10.34sWARNcontroller_managerOverrun might occur, Total time : 9269.940 us (Expected < 1666.667 us) --> Read time : 288.286 us, Update time : 8378.421 us, Write time : 603.233 us + 10.34sWARNros2_control_nodeOverrun might occur, Total time : 9269.940 us (Expected < 1666.667 us) --> Read time : 288.286 us, Update time : 8378.421 us, Write time : 603.233 us[0m ×2 + 11.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555391 ms (missed cycles : 2). + 11.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.555391 ms (missed cycles : 2).[0m ×2 + 11.37sWARNcontroller_managerOverrun might occur, Total time : 7706.035 us (Expected < 1666.667 us) --> Read time : 7019.250 us, Update time : 119.573 us, Write time : 567.212 us + 11.37sWARNros2_control_nodeOverrun might occur, Total time : 7706.035 us (Expected < 1666.667 us) --> Read time : 7019.250 us, Update time : 119.573 us, Write time : 567.212 us[0m ×2 + 11.49sINFOobjective_server_nodeFound path in 0 iterations (4.3e-07 s). ×2 + 11.49sINFOobjective_server_nodePath shortcutter: [X________________________X] ×2 + 11.50sINFOros2_control_node[2026-06-02 20:52:27.575] [info] Received new action goal ×2 + 11.50sINFOros2_control_node[2026-06-02 20:52:27.575] [info] Accepted new action goal ×2 + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889539 ms (missed cycles : 5). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889539 ms (missed cycles : 5).[0m ×2 + 12.70sWARNcontroller_managerOverrun might occur, Total time : 5913.958 us (Expected < 1666.667 us) --> Read time : 197.655 us, Update time : 5234.692 us, Write time : 481.611 us + 12.70sWARNros2_control_nodeOverrun might occur, Total time : 5913.958 us (Expected < 1666.667 us) --> Read time : 197.655 us, Update time : 5234.692 us, Write time : 481.611 us[0m ×2 + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113745 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113745 ms (missed cycles : 2).[0m ×2 + 13.86sWARNcontroller_managerOverrun might occur, Total time : 10892.322 us (Expected < 1666.667 us) --> Read time : 225.194 us, Update time : 10101.156 us, Write time : 565.972 us + 13.86sWARNros2_control_nodeOverrun might occur, Total time : 10892.322 us (Expected < 1666.667 us) --> Read time : 225.194 us, Update time : 10101.156 us, Write time : 565.972 us[0m ×2 + 14.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847394 ms (missed cycles : 2). + 14.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847394 ms (missed cycles : 2).[0m ×2 + 14.90sWARNcontroller_managerOverrun might occur, Total time : 2236.968 us (Expected < 1666.667 us) --> Read time : 206.444 us, Update time : 1088.714 us, Write time : 941.810 us + 14.91sWARNros2_control_nodeOverrun might occur, Total time : 2236.968 us (Expected < 1666.667 us) --> Read time : 206.444 us, Update time : 1088.714 us, Write time : 941.810 us[0m ×2 + 15.11sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780433551.18271756 seconds ×3 + 15.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504307 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504307 ms (missed cycles : 3).[0m ×2 + 15.80sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433551.87649155 seconds. ×3 + 15.92sWARNcontroller_managerOverrun might occur, Total time : 2077.975 us (Expected < 1666.667 us) --> Read time : 225.425 us, Update time : 844.528 us, Write time : 1008.022 us + 15.93sWARNros2_control_nodeOverrun might occur, Total time : 2077.975 us (Expected < 1666.667 us) --> Read time : 225.425 us, Update time : 844.528 us, Write time : 1008.022 us[0m ×2 + 15.96sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 15.96sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.96sINFOros2_control_node[2026-06-02 20:52:32.034] [info] Received new action goal ×2 + 15.96sINFOros2_control_node[2026-06-02 20:52:32.034] [info] Accepted new action goal ×2 + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758791 ms (missed cycles : 3). + 16.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758791 ms (missed cycles : 3).[0m ×2 + 17.23sINFOobjective_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 + 17.24sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 17.25sWARNcontroller_managerOverrun might occur, Total time : 2522.334 us (Expected < 1666.667 us) --> Read time : 292.546 us, Update time : 1615.465 us, Write time : 614.323 us + 17.25sWARNros2_control_nodeOverrun might occur, Total time : 2522.334 us (Expected < 1666.667 us) --> Read time : 292.546 us, Update time : 1615.465 us, Write time : 614.323 us[0m ×2 + 17.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 17.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 17.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 17.29sWARNcontroller_managerOverrun might occur, Total time : 1683.576 us (Expected < 1666.667 us) --> Read time : 459.760 us, Update time : 628.393 us (Switch time : 537.841 us (Switch chained mode time : 0.790 us, perform mode change time : 8.070 us, Activation time : 447.170 us, Deactivation time : 67.771 us)), Write time : 595.423 us + 17.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 17.29sWARNros2_control_nodeOverrun might occur, Total time : 1683.576 us (Expected < 1666.667 us) --> Read time : 459.760 us, Update time : 628.393 us (Switch time : 537.841 us (Switch chained mode time : 0.790 us, perform mode change time : 8.070 us, Activation time : 447.170 us, Deactivation time : 67.771 us)), Write time : 595.423 us[0m ×2 + 17.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612480 ms (missed cycles : 3). + 17.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612480 ms (missed cycles : 3).[0m ×2 + 18.35sWARNcontroller_managerOverrun might occur, Total time : 2070.115 us (Expected < 1666.667 us) --> Read time : 869.739 us, Update time : 277.526 us, Write time : 922.850 us + 18.35sWARNros2_control_nodeOverrun might occur, Total time : 2070.115 us (Expected < 1666.667 us) --> Read time : 869.739 us, Update time : 277.526 us, Write time : 922.850 us[0m ×2 + 18.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001271 ms (missed cycles : 2). + 18.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001271 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Stationary Admittance | stationary_admittance.xml | 11.3s | 6 errors · 108 warnings · 123 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 1.17sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 4.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3).[0m ×2 + 7.19sWARNcontroller_managerOverrun might occur, Total time : 9392.149 us (Expected < 1666.667 us) --> Read time : 301.636 us, Update time : 8426.449 us, Write time : 664.064 us + 7.20sWARNros2_control_nodeOverrun might occur, Total time : 9392.149 us (Expected < 1666.667 us) --> Read time : 301.636 us, Update time : 8426.449 us, Write time : 664.064 us[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466106 ms (missed cycles : 5). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.466106 ms (missed cycles : 5).[0m ×2 + 7.67sINFOobjective_server_nodeLogMessage Info: Running admittance mode for 10 seconds ×3 + 7.67sINFOros2_control_node[2026-06-02 20:55:02.504] [info] Received new action goal ×2 + 7.67sINFOros2_control_node[2026-06-02 20:55:02.504] [info] Accepted new action goal ×2 + 7.67sINFOros2_control_node[2026-06-02 20:55:02.504] [info] Goal path tolerance override provided: 10, 10, 10, 10, 10, 10, 10 ×2 + 8.39sWARNcontroller_managerOverrun might occur, Total time : 1966.841 us (Expected < 1666.667 us) --> Read time : 878.258 us, Update time : 138.123 us, Write time : 950.460 us + 8.39sWARNros2_control_nodeOverrun might occur, Total time : 1966.841 us (Expected < 1666.667 us) --> Read time : 878.258 us, Update time : 138.123 us, Write time : 950.460 us[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612122 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.612122 ms (missed cycles : 3).[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633324 ms (missed cycles : 3). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633324 ms (missed cycles : 3).[0m ×2 + 9.60sWARNcontroller_managerOverrun might occur, Total time : 9298.527 us (Expected < 1666.667 us) --> Read time : 265.576 us, Update time : 8432.649 us, Write time : 600.302 us + 9.61sWARNros2_control_nodeOverrun might occur, Total time : 9298.527 us (Expected < 1666.667 us) --> Read time : 265.576 us, Update time : 8432.649 us, Write time : 600.302 us[0m ×2 + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093188 ms (missed cycles : 5). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.093188 ms (missed cycles : 5).[0m ×2 + 10.80sWARNcontroller_managerOverrun might occur, Total time : 1681.836 us (Expected < 1666.667 us) --> Read time : 170.404 us, Update time : 582.882 us, Write time : 928.550 us + 10.80sWARNros2_control_nodeOverrun might occur, Total time : 1681.836 us (Expected < 1666.667 us) --> Read time : 170.404 us, Update time : 582.882 us, Write time : 928.550 us[0m ×2 + 11.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4).[0m ×2 + 11.90sWARNcontroller_managerOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us + 11.90sWARNros2_control_nodeOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us[0m ×2 + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us + 12.97sWARNros2_control_nodeOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us[0m ×2 + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4). + 13.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4).[0m ×2 + 13.99sWARNcontroller_managerOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us + 13.99sWARNros2_control_nodeOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us[0m ×2 + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2).[0m ×2 + 14.86sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Got request to cancel active goal. ×2 + 14.86sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Canceling active goal... ×2 + 14.87sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433709.70513988 seconds ×3 + 15.04sWARNcontroller_managerOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us + 15.04sWARNros2_control_nodeOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us[0m ×2 + 15.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433710.26620245 seconds. ×3 + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3).[0m ×2 + 16.10sWARNcontroller_managerOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us + 16.10sWARNros2_control_nodeOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us[0m ×2 + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3).[0m ×2 + 16.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433711.60634947 seconds ×3 + 17.20sWARNcontroller_managerOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us + 17.20sWARNros2_control_nodeOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us[0m ×2 + 17.33sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433712.16521645 seconds. ×3 + 17.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 17.34sINFOobjective_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 + 17.34sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 17.34sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433712.16772676 seconds ×3 + 17.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7). + 17.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7).[0m ×2 + 17.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433712.72707796 seconds. ×3 + 17.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433712.72768164 seconds ×3 | ||||
| ✓ passed | 3 Waypoints Pick and Place | 3_waypoint_pick_and_place.xml | 11.1s | 3 errors · 102 warnings · 178 info |
+ 0.00sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×8 + 0.23sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 0.24sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.06sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 1.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.07sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×14 + 1.45sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 1.45sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 1.61sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 1.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 2.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.00sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.02sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.02sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.02sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.02sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.02sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.02sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.02sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.04sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.04sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.04sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.04sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.04sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.04sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 3.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 3.64sINFOobjective_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 + 3.65sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 3.65sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 3.65sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.65sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 3.65sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 3.65sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.65sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 3.74sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 3.75sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 3.75sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 4.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 4.57sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.06sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.06sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 + 6.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 6.29sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 6.30sINFOobjective_server_nodePath shortcutter: [X__________________X] ×4 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 4317.723 us (Expected < 1666.667 us) --> Read time : 678.315 us, Update time : 70.401 us, Write time : 3569.007 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 4317.723 us (Expected < 1666.667 us) --> Read time : 678.315 us, Update time : 70.401 us, Write time : 3569.007 us[0m ×2 + 6.32sINFOros2_control_node[2026-06-02 20:50:01.400] [info] Received new action goal ×2 + 6.32sINFOros2_control_node[2026-06-02 20:50:01.400] [info] Accepted new action goal ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973752 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973752 ms (missed cycles : 2).[0m ×2 + 7.52sWARNcontroller_managerOverrun might occur, Total time : 1959.742 us (Expected < 1666.667 us) --> Read time : 325.627 us, Update time : 427.929 us, Write time : 1206.186 us + 7.52sWARNros2_control_nodeOverrun might occur, Total time : 1959.742 us (Expected < 1666.667 us) --> Read time : 325.627 us, Update time : 427.929 us, Write time : 1206.186 us[0m ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700886 ms (missed cycles : 2). + 7.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700886 ms (missed cycles : 2).[0m ×2 + 8.56sWARNcontroller_managerOverrun might occur, Total time : 1952.602 us (Expected < 1666.667 us) --> Read time : 146.763 us, Update time : 157.693 us, Write time : 1648.146 us + 8.57sWARNros2_control_nodeOverrun might occur, Total time : 1952.602 us (Expected < 1666.667 us) --> Read time : 146.763 us, Update time : 157.693 us, Write time : 1648.146 us[0m ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768936 ms (missed cycles : 5). + 8.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.768936 ms (missed cycles : 5).[0m ×2 + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761464 ms (missed cycles : 5). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.761464 ms (missed cycles : 5).[0m ×2 + 10.04sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 10.07sINFOros2_control_node[2026-06-02 20:50:05.154] [info] Received new action goal ×2 + 10.07sINFOros2_control_node[2026-06-02 20:50:05.154] [info] Accepted new action goal ×2 + 10.09sWARNcontroller_managerOverrun might occur, Total time : 2342.130 us (Expected < 1666.667 us) --> Read time : 180.404 us, Update time : 1709.396 us, Write time : 452.330 us + 10.09sWARNros2_control_nodeOverrun might occur, Total time : 2342.130 us (Expected < 1666.667 us) --> Read time : 180.404 us, Update time : 1709.396 us, Write time : 452.330 us[0m ×2 + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801484 ms (missed cycles : 2). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.801484 ms (missed cycles : 2).[0m ×2 + 11.14sWARNcontroller_managerOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us + 11.14sWARNros2_control_nodeOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us[0m ×2 + 11.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 11.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 12.23sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 12.23sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 12.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 12.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 13.39sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 13.39sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 13.40sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 13.40sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 13.47sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 13.47sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 14.10sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 14.10sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 14.11sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 14.63sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 14.63sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 14.68sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 14.81sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 15.45sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 15.64sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 15.65sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 16.60sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 16.61sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 16.61sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 16.68sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 16.69sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 16.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 16.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 17.75sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 17.75sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 | ||||
| ✓ passed | Plan and Save Trajectory | plan_and_save_trajectory.xml | 11.0s | 6 errors · 99 warnings · 52 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 6.69sWARNcontroller_managerOverrun might occur, Total time : 6728.303 us (Expected < 1666.667 us) --> Read time : 318.847 us, Update time : 73.101 us, Write time : 6336.355 us + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063314 ms (missed cycles : 5). + 6.70sWARNros2_control_nodeOverrun might occur, Total time : 6728.303 us (Expected < 1666.667 us) --> Read time : 318.847 us, Update time : 73.101 us, Write time : 6336.355 us[0m ×2 + 6.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.063314 ms (missed cycles : 5).[0m ×2 + 7.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395400 ms (missed cycles : 3). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395400 ms (missed cycles : 3).[0m ×2 + 7.84sWARNcontroller_managerOverrun might occur, Total time : 1861.710 us (Expected < 1666.667 us) --> Read time : 238.645 us, Update time : 669.114 us, Write time : 953.951 us + 7.84sWARNros2_control_nodeOverrun might occur, Total time : 1861.710 us (Expected < 1666.667 us) --> Read time : 238.645 us, Update time : 669.114 us, Write time : 953.951 us[0m ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252481 ms (missed cycles : 2). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252481 ms (missed cycles : 2).[0m ×2 + 9.31sWARNcontroller_managerOverrun might occur, Total time : 1966.421 us (Expected < 1666.667 us) --> Read time : 1445.030 us, Update time : 67.662 us, Write time : 453.729 us + 9.32sWARNros2_control_nodeOverrun might occur, Total time : 1966.421 us (Expected < 1666.667 us) --> Read time : 1445.030 us, Update time : 67.662 us, Write time : 453.729 us[0m ×2 + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388547 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.388547 ms (missed cycles : 3).[0m ×2 + 10.34sWARNcontroller_managerOverrun might occur, Total time : 2031.723 us (Expected < 1666.667 us) --> Read time : 816.847 us, Update time : 115.003 us, Write time : 1099.873 us + 10.35sWARNros2_control_nodeOverrun might occur, Total time : 2031.723 us (Expected < 1666.667 us) --> Read time : 816.847 us, Update time : 115.003 us, Write time : 1099.873 us[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367421 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367421 ms (missed cycles : 3).[0m ×2 + 11.42sWARNcontroller_managerOverrun might occur, Total time : 6108.849 us (Expected < 1666.667 us) --> Read time : 268.665 us, Update time : 5108.379 us, Write time : 731.805 us + 11.42sWARNros2_control_nodeOverrun might occur, Total time : 6108.849 us (Expected < 1666.667 us) --> Read time : 268.665 us, Update time : 5108.379 us, Write time : 731.805 us[0m ×2 + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929950 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929950 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun might occur, Total time : 1805.729 us (Expected < 1666.667 us) --> Read time : 253.576 us, Update time : 1098.673 us, Write time : 453.480 us + 12.68sWARNros2_control_nodeOverrun might occur, Total time : 1805.729 us (Expected < 1666.667 us) --> Read time : 253.576 us, Update time : 1098.673 us, Write time : 453.480 us[0m ×2 + 12.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163462 ms (missed cycles : 3). + 12.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163462 ms (missed cycles : 3).[0m ×2 + 13.84sWARNcontroller_managerOverrun might occur, Total time : 2811.740 us (Expected < 1666.667 us) --> Read time : 2390.741 us, Update time : 44.751 us, Write time : 376.248 us + 13.84sWARNros2_control_nodeOverrun might occur, Total time : 2811.740 us (Expected < 1666.667 us) --> Read time : 2390.741 us, Update time : 44.751 us, Write time : 376.248 us[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107400 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107400 ms (missed cycles : 2).[0m ×2 + 14.22sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780433675.68832493 seconds ×3 + 14.78sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780433676.25026512 seconds. ×3 + 14.89sWARNcontroller_managerOverrun might occur, Total time : 8336.587 us (Expected < 1666.667 us) --> Read time : 272.426 us, Update time : 7500.959 us, Write time : 563.202 us + 14.89sWARNros2_control_nodeOverrun might occur, Total time : 8336.587 us (Expected < 1666.667 us) --> Read time : 272.426 us, Update time : 7500.959 us, Write time : 563.202 us[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426081 ms (missed cycles : 4). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426081 ms (missed cycles : 4).[0m ×2 + 15.06sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 15.07sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 15.09sINFOros2_control_node[2026-06-02 20:54:36.559] [info] Received new action goal ×2 + 15.09sINFOros2_control_node[2026-06-02 20:54:36.559] [info] Accepted new action goal ×2 + 15.91sWARNcontroller_managerOverrun might occur, Total time : 5332.234 us (Expected < 1666.667 us) --> Read time : 4735.481 us, Update time : 97.682 us, Write time : 499.071 us + 15.91sWARNros2_control_nodeOverrun might occur, Total time : 5332.234 us (Expected < 1666.667 us) --> Read time : 4735.481 us, Update time : 97.682 us, Write time : 499.071 us[0m ×2 + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567415 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567415 ms (missed cycles : 3).[0m ×2 + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192272 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192272 ms (missed cycles : 2).[0m ×2 + 17.40sWARNcontroller_managerOverrun might occur, Total time : 4270.891 us (Expected < 1666.667 us) --> Read time : 206.734 us, Update time : 3497.375 us, Write time : 566.782 us + 17.40sWARNros2_control_nodeOverrun might occur, Total time : 4270.891 us (Expected < 1666.667 us) --> Read time : 206.734 us, Update time : 3497.375 us, Write time : 566.782 us[0m ×2 | ||||
| ✓ passed | Pick April Tag Labeled Object With Approval | pick_april_tag_object_with_approval.xml | 11.0s | 3 errors · 99 warnings · 93 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2).[0m ×2 + 2.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×3 + 2.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×6 + 3.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433653.53123808 seconds ×3 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3).[0m ×2 + 3.67sWARNcontroller_managerOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433654.27858877 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4).[0m ×2 + 7.10sWARNcontroller_managerOverrun might occur, Total time : 5393.074 us (Expected < 1666.667 us) --> Read time : 173.493 us, Update time : 4647.659 us, Write time : 571.922 us + 7.10sWARNros2_control_nodeOverrun might occur, Total time : 5393.074 us (Expected < 1666.667 us) --> Read time : 173.493 us, Update time : 4647.659 us, Write time : 571.922 us[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784395 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784395 ms (missed cycles : 3).[0m ×2 + 8.18sWARNcontroller_managerOverrun might occur, Total time : 7772.663 us (Expected < 1666.667 us) --> Read time : 184.073 us, Update time : 7025.538 us, Write time : 563.052 us + 8.18sWARNros2_control_nodeOverrun might occur, Total time : 7772.663 us (Expected < 1666.667 us) --> Read time : 184.073 us, Update time : 7025.538 us, Write time : 563.052 us[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213569 ms (missed cycles : 4). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.213569 ms (missed cycles : 4).[0m ×2 + 9.19sWARNcontroller_managerOverrun might occur, Total time : 2307.099 us (Expected < 1666.667 us) --> Read time : 232.535 us, Update time : 357.268 us, Write time : 1717.296 us + 9.20sWARNros2_control_nodeOverrun might occur, Total time : 2307.099 us (Expected < 1666.667 us) --> Read time : 232.535 us, Update time : 357.268 us, Write time : 1717.296 us[0m ×2 + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205163 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205163 ms (missed cycles : 3).[0m ×2 + 9.89sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 9.90sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 9.90sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 10.19sINFOobjective_server_nodePath shortcutter: [X___________X] ×2 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 10.19sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (2.8e-07 s). ×2 + 10.24sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 10.26sINFOobjective_server_nodeFound path in 1 iterations (0.00260735 s). ×2 + 10.34sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X_____________X] ×2 + 10.36sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.36sWARNcontroller_managerOverrun might occur, Total time : 6295.874 us (Expected < 1666.667 us) --> Read time : 205.974 us, Update time : 5413.785 us, Write time : 676.115 us + 10.36sWARNros2_control_nodeOverrun might occur, Total time : 6295.874 us (Expected < 1666.667 us) --> Read time : 205.974 us, Update time : 5413.785 us, Write time : 676.115 us[0m ×2 + 10.38sINFOros2_control_node[2026-06-02 20:54:20.427] [info] Received new action goal ×2 + 10.38sINFOros2_control_node[2026-06-02 20:54:20.427] [info] Accepted new action goal ×2 + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062221 ms (missed cycles : 4). + 10.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.062221 ms (missed cycles : 4).[0m ×2 + 11.43sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 11.43sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 12.63sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 12.63sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 12.91sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 12.91sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 13.82sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 14.54sINFOrobotiq_gripper_controllerGot request to cancel goal + 14.54sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 14.55sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.55sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.57sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 14.90sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 14.90sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 15.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 15.23sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 15.39sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.39sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 15.40sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 15.40sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 15.94sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 15.94sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 16.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 16.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 17.02sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 17.02sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 17.31sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| ✓ passed | Grasp Pose Using Yaml | grasp_pose_using_yaml.xml | 11.0s | 6 errors · 99 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1719.847 us (Expected < 1666.667 us) --> Read time : 238.545 us, Update time : 480.921 us, Write time : 1000.381 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1719.847 us (Expected < 1666.667 us) --> Read time : 238.545 us, Update time : 480.921 us, Write time : 1000.381 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802543 ms (missed cycles : 5). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802543 ms (missed cycles : 5).[0m ×2 + 1.01sWARNcontroller_managerOverrun might occur, Total time : 2108.596 us (Expected < 1666.667 us) --> Read time : 192.424 us, Update time : 1488.853 us, Write time : 427.319 us + 1.01sWARNros2_control_nodeOverrun might occur, Total time : 2108.596 us (Expected < 1666.667 us) --> Read time : 192.424 us, Update time : 1488.853 us, Write time : 427.319 us[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.298580 ms (missed cycles : 8). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.298580 ms (missed cycles : 8).[0m ×2 + 2.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 2.11sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 2.11sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 2.18sWARNcontroller_managerOverrun might occur, Total time : 2087.075 us (Expected < 1666.667 us) --> Read time : 251.595 us, Update time : 782.817 us, Write time : 1052.663 us + 2.18sWARNros2_control_nodeOverrun might occur, Total time : 2087.075 us (Expected < 1666.667 us) --> Read time : 251.595 us, Update time : 782.817 us, Write time : 1052.663 us[0m ×2 + 2.22sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 2.22sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 2.23sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 2.23sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 2.24sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 2.27sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 2.29sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 2.32sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 2.33sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 2.36sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 2.40sINFOobjective_server_nodeFound path in 1 iterations (0.00282771 s). ×2 + 2.48sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 2.50sINFOobjective_server_nodeFound path in 1 iterations (0.00326694 s). ×2 + 2.53sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.12% of iterations over budget over 1:10.004 of wall time (242/21664). Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.58sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 2.60sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 2.69sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264632 ms (missed cycles : 2). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264632 ms (missed cycles : 2).[0m ×2 + 2.72sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.74sINFOros2_control_node[2026-06-02 20:50:59.860] [info] Received new action goal ×2 + 2.74sINFOros2_control_node[2026-06-02 20:50:59.860] [info] Accepted new action goal ×2 + 2.96sINFOros2_control_node[2026-06-02 20:51:00.083] [info] Got request to cancel active goal. ×2 + 2.96sINFOros2_control_node[2026-06-02 20:51:00.083] [info] Canceling active goal... ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780433460.09123445 seconds ×3 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.56sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780433460.68475676 seconds. ×3 + 3.57sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.57sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.61sWARNcontroller_managerOverrun might occur, Total time : 1969.903 us (Expected < 1666.667 us) --> Read time : 584.113 us, Update time : 167.723 us, Write time : 1218.067 us + 3.61sWARNros2_control_nodeOverrun might occur, Total time : 1969.903 us (Expected < 1666.667 us) --> Read time : 584.113 us, Update time : 167.723 us, Write time : 1218.067 us[0m ×2 + 3.74sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779054 ms (missed cycles : 5). + 3.74sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 3.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779054 ms (missed cycles : 5).[0m ×2 + 3.76sINFOros2_control_node[2026-06-02 20:51:00.876] [info] Received new action goal ×2 + 3.76sINFOros2_control_node[2026-06-02 20:51:00.876] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2797.308 us (Expected < 1666.667 us) --> Read time : 302.636 us, Update time : 1842.039 us, Write time : 652.633 us + 4.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992828 ms (missed cycles : 2). + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2797.308 us (Expected < 1666.667 us) --> Read time : 302.636 us, Update time : 1842.039 us, Write time : 652.633 us[0m ×2 + 4.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992828 ms (missed cycles : 2).[0m ×2 + 5.77sWARNcontroller_managerOverrun might occur, Total time : 2793.290 us (Expected < 1666.667 us) --> Read time : 339.507 us, Update time : 1690.207 us, Write time : 763.576 us + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387482 ms (missed cycles : 3). + 5.78sWARNros2_control_nodeOverrun might occur, Total time : 2793.290 us (Expected < 1666.667 us) --> Read time : 339.507 us, Update time : 1690.207 us, Write time : 763.576 us[0m ×2 + 5.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387482 ms (missed cycles : 3).[0m ×2 + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857216 ms (missed cycles : 5). + 6.79sWARNcontroller_managerOverrun might occur, Total time : 1835.069 us (Expected < 1666.667 us) --> Read time : 857.808 us, Update time : 78.792 us, Write time : 898.469 us + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.857216 ms (missed cycles : 5).[0m ×2 + 6.79sWARNros2_control_nodeOverrun might occur, Total time : 1835.069 us (Expected < 1666.667 us) --> Read time : 857.808 us, Update time : 78.792 us, Write time : 898.469 us[0m ×2 + 7.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816083 ms (missed cycles : 2). + 7.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816083 ms (missed cycles : 2).[0m ×2 + 7.93sWARNcontroller_managerOverrun might occur, Total time : 3771.591 us (Expected < 1666.667 us) --> Read time : 207.435 us, Update time : 45.731 us, Write time : 3518.425 us + 7.93sWARNros2_control_nodeOverrun might occur, Total time : 3771.591 us (Expected < 1666.667 us) --> Read time : 207.435 us, Update time : 45.731 us, Write time : 3518.425 us[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754798 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754798 ms (missed cycles : 2).[0m ×2 + 9.00sWARNcontroller_managerOverrun might occur, Total time : 4375.054 us (Expected < 1666.667 us) --> Read time : 276.216 us, Update time : 3645.368 us, Write time : 453.470 us + 9.00sWARNros2_control_nodeOverrun might occur, Total time : 4375.054 us (Expected < 1666.667 us) --> Read time : 276.216 us, Update time : 3645.368 us, Write time : 453.470 us[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721388 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.721388 ms (missed cycles : 3).[0m ×2 + 10.20sWARNcontroller_managerOverrun might occur, Total time : 1678.296 us (Expected < 1666.667 us) --> Read time : 208.925 us, Update time : 71.311 us, Write time : 1398.060 us + 10.21sWARNros2_control_nodeOverrun might occur, Total time : 1678.296 us (Expected < 1666.667 us) --> Read time : 208.925 us, Update time : 71.311 us, Write time : 1398.060 us[0m ×2 + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621250 ms (missed cycles : 6). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621250 ms (missed cycles : 6).[0m ×2 + 11.30sWARNcontroller_managerOverrun might occur, Total time : 2193.527 us (Expected < 1666.667 us) --> Read time : 339.827 us, Update time : 1415.890 us, Write time : 437.810 us + 11.30sWARNros2_control_nodeOverrun might occur, Total time : 2193.527 us (Expected < 1666.667 us) --> Read time : 339.827 us, Update time : 1415.890 us, Write time : 437.810 us[0m ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274549 ms (missed cycles : 4). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274549 ms (missed cycles : 4).[0m ×2 + 12.52sWARNcontroller_managerOverrun might occur, Total time : 1702.446 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 564.152 us, Write time : 905.279 us + 12.52sWARNros2_control_nodeOverrun might occur, Total time : 1702.446 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 564.152 us, Write time : 905.279 us[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739582 ms (missed cycles : 2). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739582 ms (missed cycles : 2).[0m ×2 + 13.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070624 ms (missed cycles : 2). + 13.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070624 ms (missed cycles : 2).[0m ×2 + 13.90sWARNcontroller_managerOverrun might occur, Total time : 4375.274 us (Expected < 1666.667 us) --> Read time : 272.105 us, Update time : 3424.444 us, Write time : 678.725 us + 13.90sWARNros2_control_nodeOverrun might occur, Total time : 4375.274 us (Expected < 1666.667 us) --> Read time : 272.105 us, Update time : 3424.444 us, Write time : 678.725 us[0m ×2 + 13.95sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780433471.07505798 seconds ×3 + 14.51sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780433471.63292265 seconds. ×3 + 14.65sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 14.65sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.65sINFOros2_control_node[2026-06-02 20:51:11.777] [info] Received new action goal ×2 + 14.65sINFOros2_control_node[2026-06-02 20:51:11.777] [info] Accepted new action goal ×2 + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963603 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963603 ms (missed cycles : 3).[0m ×2 + 15.00sWARNcontroller_managerOverrun might occur, Total time : 8728.357 us (Expected < 1666.667 us) --> Read time : 280.016 us, Update time : 7830.738 us, Write time : 617.603 us + 15.00sWARNros2_control_nodeOverrun might occur, Total time : 8728.357 us (Expected < 1666.667 us) --> Read time : 280.016 us, Update time : 7830.738 us, Write time : 617.603 us[0m ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816814 ms (missed cycles : 2). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816814 ms (missed cycles : 2).[0m ×2 + 16.12sWARNcontroller_managerOverrun might occur, Total time : 2126.934 us (Expected < 1666.667 us) --> Read time : 206.694 us, Update time : 1510.482 us, Write time : 409.758 us + 16.12sWARNros2_control_nodeOverrun might occur, Total time : 2126.934 us (Expected < 1666.667 us) --> Read time : 206.694 us, Update time : 1510.482 us, Write time : 409.758 us[0m ×2 + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685226 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685226 ms (missed cycles : 2).[0m ×2 + 17.13sWARNcontroller_managerOverrun might occur, Total time : 2856.951 us (Expected < 1666.667 us) --> Read time : 338.217 us, Update time : 1900.821 us, Write time : 617.913 us + 17.13sWARNros2_control_nodeOverrun might occur, Total time : 2856.951 us (Expected < 1666.667 us) --> Read time : 338.217 us, Update time : 1900.821 us, Write time : 617.913 us[0m ×2 + 17.14sINFOros2_control_node[2026-06-02 20:51:14.258] [info] Received new action goal ×2 + 17.14sINFOros2_control_node[2026-06-02 20:51:14.259] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Record and Replay Scanning Motion | record_and_replay_scanning_motion.xml | 11.0s | 3 errors · 96 warnings · 94 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386608 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386608 ms (missed cycles : 4).[0m ×2 + 0.54sWARNcontroller_managerOverrun might occur, Total time : 1834.729 us (Expected < 1666.667 us) --> Read time : 792.787 us, Update time : 129.083 us, Write time : 912.859 us + 0.54sWARNros2_control_nodeOverrun might occur, Total time : 1834.729 us (Expected < 1666.667 us) --> Read time : 792.787 us, Update time : 129.083 us, Write time : 912.859 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205252 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205252 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3106.646 us (Expected < 1666.667 us) --> Read time : 256.775 us, Update time : 2248.938 us, Write time : 600.933 us + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3106.646 us (Expected < 1666.667 us) --> Read time : 256.775 us, Update time : 2248.938 us, Write time : 600.933 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.895110 ms (missed cycles : 8). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.895110 ms (missed cycles : 8).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780433686.15910339 seconds ×3 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 2.60sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×10 + 2.68sWARNcontroller_managerOverrun might occur, Total time : 4113.058 us (Expected < 1666.667 us) --> Read time : 211.115 us, Update time : 3361.691 us, Write time : 540.252 us + 2.68sWARNros2_control_nodeOverrun might occur, Total time : 4113.058 us (Expected < 1666.667 us) --> Read time : 211.115 us, Update time : 3361.691 us, Write time : 540.252 us[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780433686.72916126 seconds. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378437 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378437 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-06-02 20:54:46.864] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-06-02 20:54:46.864] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 2377.311 us (Expected < 1666.667 us) --> Read time : 186.204 us, Update time : 1772.758 us, Write time : 418.349 us + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 2377.311 us (Expected < 1666.667 us) --> Read time : 186.204 us, Update time : 1772.758 us, Write time : 418.349 us[0m ×2 + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.502230 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.502230 ms (missed cycles : 6).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 8562.642 us (Expected < 1666.667 us) --> Read time : 281.536 us, Update time : 7568.571 us, Write time : 712.535 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 8562.642 us (Expected < 1666.667 us) --> Read time : 281.536 us, Update time : 7568.571 us, Write time : 712.535 us[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261401 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261401 ms (missed cycles : 3).[0m ×2 + 6.57sWARNcontroller_managerOverrun might occur, Total time : 4282.411 us (Expected < 1666.667 us) --> Read time : 108.232 us, Update time : 3591.966 us, Write time : 582.213 us + 6.57sWARNros2_control_nodeOverrun might occur, Total time : 4282.411 us (Expected < 1666.667 us) --> Read time : 108.232 us, Update time : 3591.966 us, Write time : 582.213 us[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571909 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.571909 ms (missed cycles : 3).[0m ×2 + 7.61sWARNcontroller_managerOverrun might occur, Total time : 1961.401 us (Expected < 1666.667 us) --> Read time : 264.305 us, Update time : 1278.918 us, Write time : 418.178 us + 7.61sWARNros2_control_nodeOverrun might occur, Total time : 1961.401 us (Expected < 1666.667 us) --> Read time : 264.305 us, Update time : 1278.918 us, Write time : 418.178 us[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017052 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017052 ms (missed cycles : 2).[0m ×2 + 8.91sWARNcontroller_managerOverrun might occur, Total time : 6083.019 us (Expected < 1666.667 us) --> Read time : 713.155 us, Update time : 337.647 us, Write time : 5032.217 us + 8.91sWARNros2_control_nodeOverrun might occur, Total time : 6083.019 us (Expected < 1666.667 us) --> Read time : 713.155 us, Update time : 337.647 us, Write time : 5032.217 us[0m ×2 + 9.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097209 ms (missed cycles : 3). + 9.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097209 ms (missed cycles : 3).[0m ×2 + 10.16sWARNcontroller_managerOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us + 10.16sWARNros2_control_nodeOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us[0m ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2).[0m ×2 + 11.26sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 11.26sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 12.43sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 12.43sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 12.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 12.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 13.51sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 13.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 13.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 13.63sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 13.63sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 14.14sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 14.19sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.19sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.20sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.20sINFOcontroller_managerSuccessfully switched controllers! ×2 + 14.20sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.20sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 14.20sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 14.20sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 14.22sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 14.22sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 14.23sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.23sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.24sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 14.24sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 14.25sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 14.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 14.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 14.80sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 14.83sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 14.83sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 14.83sINFOobjective_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 + 14.83sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 15.52sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 15.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 15.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 15.62sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 15.62sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 15.63sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 15.63sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 16.01sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 16.01sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 16.09sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Grasp Pose Tuning With April Tag | grasp_pose_tuning_with_april_tag.xml | 10.9s | 6 errors · 96 warnings · 108 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×12 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 + 7.76sWARNcontroller_managerOverrun might occur, Total time : 1757.618 us (Expected < 1666.667 us) --> Read time : 347.408 us, Update time : 197.314 us, Write time : 1212.896 us + 7.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256328 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun might occur, Total time : 1757.618 us (Expected < 1666.667 us) --> Read time : 347.408 us, Update time : 197.314 us, Write time : 1212.896 us[0m ×2 + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256328 ms (missed cycles : 2).[0m ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477704 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477704 ms (missed cycles : 3).[0m ×2 + 8.97sWARNcontroller_managerOverrun might occur, Total time : 3679.490 us (Expected < 1666.667 us) --> Read time : 274.766 us, Update time : 2936.153 us, Write time : 468.571 us + 8.97sWARNros2_control_nodeOverrun might occur, Total time : 3679.490 us (Expected < 1666.667 us) --> Read time : 274.766 us, Update time : 2936.153 us, Write time : 468.571 us[0m ×2 + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048075 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048075 ms (missed cycles : 3).[0m ×2 + 10.20sWARNcontroller_managerOverrun might occur, Total time : 6024.060 us (Expected < 1666.667 us) --> Read time : 384.988 us, Update time : 63.362 us, Write time : 5575.710 us + 10.20sWARNros2_control_nodeOverrun might occur, Total time : 6024.060 us (Expected < 1666.667 us) --> Read time : 384.988 us, Update time : 63.362 us, Write time : 5575.710 us[0m ×2 + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702054 ms (missed cycles : 2). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.702054 ms (missed cycles : 2).[0m ×2 + 11.27sWARNcontroller_managerOverrun might occur, Total time : 1719.847 us (Expected < 1666.667 us) --> Read time : 238.545 us, Update time : 480.921 us, Write time : 1000.381 us + 11.27sWARNros2_control_nodeOverrun might occur, Total time : 1719.847 us (Expected < 1666.667 us) --> Read time : 238.545 us, Update time : 480.921 us, Write time : 1000.381 us[0m ×2 + 11.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802543 ms (missed cycles : 5). + 11.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.802543 ms (missed cycles : 5).[0m ×2 + 12.28sWARNcontroller_managerOverrun might occur, Total time : 2108.596 us (Expected < 1666.667 us) --> Read time : 192.424 us, Update time : 1488.853 us, Write time : 427.319 us + 12.28sWARNros2_control_nodeOverrun might occur, Total time : 2108.596 us (Expected < 1666.667 us) --> Read time : 192.424 us, Update time : 1488.853 us, Write time : 427.319 us[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.298580 ms (missed cycles : 8). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.298580 ms (missed cycles : 8).[0m ×2 + 13.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 + 13.38sINFOobjective_server_nodeFound detection with id: 0, label: %s ×3 + 13.38sINFOobjective_server_nodeDetected 5 AprilTags with ids: 0 0 0 0 0 ×2 + 13.45sWARNcontroller_managerOverrun might occur, Total time : 2087.075 us (Expected < 1666.667 us) --> Read time : 251.595 us, Update time : 782.817 us, Write time : 1052.663 us + 13.45sWARNros2_control_nodeOverrun might occur, Total time : 2087.075 us (Expected < 1666.667 us) --> Read time : 251.595 us, Update time : 782.817 us, Write time : 1052.663 us[0m ×2 + 13.49sINFOobjective_server_nodeFound path in 0 iterations (5e-07 s). ×2 + 13.49sINFOobjective_server_nodePath shortcutter: [X__________X] ×2 + 13.50sINFOobjective_server_nodeFound path in 0 iterations (4.61e-07 s). ×2 + 13.50sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 13.51sINFOobjective_server_nodeFound path in 0 iterations (2.3e-07 s). ×2 + 13.54sINFOobjective_server_nodePath shortcutter: [X__________________________________________________X] ×2 + 13.56sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 13.59sINFOobjective_server_nodePath shortcutter: [X_______________________________________________X] ×2 + 13.60sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 13.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________X] ×2 + 13.67sINFOobjective_server_nodeFound path in 1 iterations (0.00282771 s). ×2 + 13.75sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________________________X____________X] ×2 + 13.77sINFOobjective_server_nodeFound path in 1 iterations (0.00326694 s). ×2 + 13.80sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.12% of iterations over budget over 1:10.004 of wall time (242/21664). Consistently above 1% means the model timestep should be raised.[0m ×2 + 13.85sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________X__________________________X] ×2 + 13.87sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 13.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________X] ×2 + 13.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264632 ms (missed cycles : 2). + 13.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264632 ms (missed cycles : 2).[0m ×2 + 14.01sINFOros2_control_node[2026-06-02 20:50:59.860] [info] Received new action goal ×2 + 14.01sINFOros2_control_node[2026-06-02 20:50:59.860] [info] Accepted new action goal ×2 + 14.23sINFOros2_control_node[2026-06-02 20:51:00.083] [info] Got request to cancel active goal. ×2 + 14.23sINFOros2_control_node[2026-06-02 20:51:00.083] [info] Canceling active goal... ×2 + 14.24sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Tuning With April Tag` was cancelled: Objective execution was halted at time: 1780433460.09123445 seconds ×3 + 14.83sINFOobjective_server_nodeObjective `Grasp Pose Using Yaml` starting at time: 1780433460.68475676 seconds. ×3 + 14.88sWARNcontroller_managerOverrun might occur, Total time : 1969.903 us (Expected < 1666.667 us) --> Read time : 584.113 us, Update time : 167.723 us, Write time : 1218.067 us + 14.88sWARNros2_control_nodeOverrun might occur, Total time : 1969.903 us (Expected < 1666.667 us) --> Read time : 584.113 us, Update time : 167.723 us, Write time : 1218.067 us[0m ×2 + 15.01sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 15.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779054 ms (missed cycles : 5). + 15.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.779054 ms (missed cycles : 5).[0m ×2 + 15.03sINFOros2_control_node[2026-06-02 20:51:00.876] [info] Received new action goal ×2 + 15.03sINFOros2_control_node[2026-06-02 20:51:00.876] [info] Accepted new action goal ×2 + 16.02sWARNcontroller_managerOverrun might occur, Total time : 2797.308 us (Expected < 1666.667 us) --> Read time : 302.636 us, Update time : 1842.039 us, Write time : 652.633 us + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992828 ms (missed cycles : 2). + 16.02sWARNros2_control_nodeOverrun might occur, Total time : 2797.308 us (Expected < 1666.667 us) --> Read time : 302.636 us, Update time : 1842.039 us, Write time : 652.633 us[0m ×2 + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992828 ms (missed cycles : 2).[0m ×2 + 17.04sWARNcontroller_managerOverrun might occur, Total time : 2793.290 us (Expected < 1666.667 us) --> Read time : 339.507 us, Update time : 1690.207 us, Write time : 763.576 us + 17.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387482 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun might occur, Total time : 2793.290 us (Expected < 1666.667 us) --> Read time : 339.507 us, Update time : 1690.207 us, Write time : 763.576 us[0m ×2 + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387482 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Cycle Between Waypoints | cycle_between_waypoints.xml | 10.9s | 3 errors · 96 warnings · 99 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780433437.63561249 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×6 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780433438.23518419 seconds. ×3 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780433438.33532429 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780433438.93439817 seconds. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×15 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×4 + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086983 ms (missed cycles : 4). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.086983 ms (missed cycles : 4).[0m ×2 + 6.51sINFOobjective_server_nodePath shortcutter: [X_______X] ×6 + 6.52sINFOros2_control_node[2026-06-02 20:50:42.398] [info] Received new action goal ×2 + 6.52sINFOros2_control_node[2026-06-02 20:50:42.398] [info] Accepted new action goal ×2 + 6.75sWARNcontroller_managerOverrun might occur, Total time : 2898.272 us (Expected < 1666.667 us) --> Read time : 237.795 us, Update time : 2139.426 us, Write time : 521.051 us + 6.76sWARNros2_control_nodeOverrun might occur, Total time : 2898.272 us (Expected < 1666.667 us) --> Read time : 237.795 us, Update time : 2139.426 us, Write time : 521.051 us[0m ×2 + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420786 ms (missed cycles : 3). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420786 ms (missed cycles : 3).[0m ×2 + 7.92sWARNcontroller_managerOverrun might occur, Total time : 2921.103 us (Expected < 1666.667 us) --> Read time : 311.447 us, Update time : 67.272 us, Write time : 2542.384 us + 7.93sWARNros2_control_nodeOverrun might occur, Total time : 2921.103 us (Expected < 1666.667 us) --> Read time : 311.447 us, Update time : 67.272 us, Write time : 2542.384 us[0m ×2 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888401 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.888401 ms (missed cycles : 2).[0m ×2 + 8.85sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 8.87sINFOros2_control_node[2026-06-02 20:50:44.748] [info] Received new action goal ×2 + 8.87sINFOros2_control_node[2026-06-02 20:50:44.748] [info] Accepted new action goal ×2 + 8.93sWARNcontroller_managerOverrun might occur, Total time : 5653.082 us (Expected < 1666.667 us) --> Read time : 220.205 us, Update time : 4857.745 us, Write time : 575.132 us + 8.94sWARNros2_control_nodeOverrun might occur, Total time : 5653.082 us (Expected < 1666.667 us) --> Read time : 220.205 us, Update time : 4857.745 us, Write time : 575.132 us[0m ×2 + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124973 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124973 ms (missed cycles : 2).[0m ×2 + 9.97sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 9.98sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 10.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 10.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 11.07sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 11.07sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 11.21sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 11.22sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 11.22sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 12.11sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 12.11sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 12.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 13.30sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 13.30sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 13.31sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 13.79sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 13.79sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 13.90sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 14.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 14.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 15.08sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 15.09sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 15.10sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 15.10sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 15.15sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 15.16sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 15.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 15.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 16.28sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 16.28sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 16.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 16.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 10.7s | 65 errors · 60 warnings · 306 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2).[0m ×2 + 0.35sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Got request to cancel active goal. ×2 + 0.35sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Canceling active goal... ×2 + 0.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433709.70513988 seconds ×3 + 0.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.52sWARNcontroller_managerOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us + 0.53sWARNros2_control_nodeOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us[0m ×2 + 0.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433710.26620245 seconds. ×3 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3).[0m ×2 + 1.59sWARNcontroller_managerOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us + 1.59sWARNros2_control_nodeOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3).[0m ×2 + 2.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433711.60634947 seconds ×3 + 2.68sWARNcontroller_managerOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us + 2.69sWARNros2_control_nodeOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433712.16521645 seconds. ×3 + 2.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 2.82sINFOobjective_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 + 2.82sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 2.82sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433712.16772676 seconds ×3 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7).[0m ×2 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433712.72707796 seconds. ×3 + 3.38sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433712.72768164 seconds ×3 + 3.98sWARNcontroller_managerOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us + 3.98sWARNros2_control_nodeOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us[0m ×2 + 4.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433713.38088989 seconds. ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433714.05103779 seconds ×3 + 4.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6). + 5.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6).[0m ×2 + 5.24sWARNcontroller_managerOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us + 5.24sWARNros2_control_nodeOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us[0m ×2 + 6.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463579 ms (missed cycles : 4). + 6.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463579 ms (missed cycles : 4).[0m ×2 + 6.52sWARNcontroller_managerOverrun might occur, Total time : 2669.046 us (Expected < 1666.667 us) --> Read time : 580.032 us, Update time : 627.243 us, Write time : 1461.771 us + 6.52sWARNros2_control_nodeOverrun might occur, Total time : 2669.046 us (Expected < 1666.667 us) --> Read time : 580.032 us, Update time : 627.243 us, Write time : 1461.771 us[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570614 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570614 ms (missed cycles : 3).[0m ×2 + 7.90sWARNcontroller_managerOverrun might occur, Total time : 6433.136 us (Expected < 1666.667 us) --> Read time : 5811.813 us, Update time : 75.682 us, Write time : 545.641 us + 7.91sWARNros2_control_nodeOverrun might occur, Total time : 6433.136 us (Expected < 1666.667 us) --> Read time : 5811.813 us, Update time : 75.682 us, Write time : 545.641 us[0m ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.354046 ms (missed cycles : 6). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.354046 ms (missed cycles : 6).[0m ×2 + 9.12sWARNcontroller_managerOverrun might occur, Total time : 6800.905 us (Expected < 1666.667 us) --> Read time : 222.585 us, Update time : 6096.879 us, Write time : 481.441 us + 9.12sWARNros2_control_nodeOverrun might occur, Total time : 6800.905 us (Expected < 1666.667 us) --> Read time : 222.585 us, Update time : 6096.879 us, Write time : 481.441 us[0m ×2 + 9.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.792278 ms (missed cycles : 8). + 9.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.792278 ms (missed cycles : 8).[0m ×2 + 10.09sERRORweb_video_server-21process[web_video_server-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORtf2_web_republisher_node-20process[tf2_web_republisher_node-20] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.09sERRORrosbridge_websocket-19process[rosbridge_websocket-19] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORrosapi_node-18process[rosapi_node-18] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORui_teleop_bridge-17process[ui_teleop_bridge-17] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORexecute_objective_bridge-16process[execute_objective_bridge-16] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.10sERRORcomponent_container_mt-15process[component_container_mt-15] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORobjective_server_node_main-14process[objective_server_node_main-14] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORmove_end_effector_resampler_node-13process[move_end_effector_resampler_node-13] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORmove_joint_resampler_node-12process[move_joint_resampler_node-12] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORwaypoint_manager_node-11process[waypoint_manager_node-11] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.11sERRORparameter_manager_node-10process[parameter_manager_node-10] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORmove_group-9process[move_group-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sERRORros2_control_node-1process[ros2_control_node-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.12sINFOweb_video_server-21sending signal 'SIGTERM' to process[web_video_server-21] ×2 + 10.13sINFOtf2_web_republisher_node-20sending signal 'SIGTERM' to process[tf2_web_republisher_node-20] ×2 + 10.15sINFOrosbridge_websocket-19sending signal 'SIGTERM' to process[rosbridge_websocket-19] ×2 + 10.15sINFOrosapi_node-18sending signal 'SIGTERM' to process[rosapi_node-18] ×2 + 10.17sINFOui_teleop_bridge-17sending signal 'SIGTERM' to process[ui_teleop_bridge-17] ×2 + 10.18sINFOexecute_objective_bridge-16sending signal 'SIGTERM' to process[execute_objective_bridge-16] ×2 + 10.19sINFOcomponent_container_mt-15sending signal 'SIGTERM' to process[component_container_mt-15] ×2 + 10.19sWARNcontroller_managerOverrun might occur, Total time : 2324.840 us (Expected < 1666.667 us) --> Read time : 199.194 us, Update time : 50.741 us, Write time : 2074.905 us + 10.20sINFOobjective_server_node_main-14sending signal 'SIGTERM' to process[objective_server_node_main-14] ×2 + 10.21sINFOmove_end_effector_resampler_node-13sending signal 'SIGTERM' to process[move_end_effector_resampler_node-13] ×2 + 10.22sINFOmove_joint_resampler_node-12sending signal 'SIGTERM' to process[move_joint_resampler_node-12] ×2 + 10.24sINFOwaypoint_manager_node-11sending signal 'SIGTERM' to process[waypoint_manager_node-11] ×2 + 10.25sINFOparameter_manager_node-10sending signal 'SIGTERM' to process[parameter_manager_node-10] ×2 + 10.26sINFOmove_group-9sending signal 'SIGTERM' to process[move_group-9] ×2 + 10.27sINFOros2_control_node-1sending signal 'SIGTERM' to process[ros2_control_node-1] ×2 + 10.27sINFOweb_video_serversignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.27sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.27sINFOrosbridge_websocketExiting due to SIGINT ×2 + 10.27sERRORrosapi_nodeTraceback (most recent call last): ×2 + 10.27sINFOrosapi_nodeFile "/opt/ros/jazzy/lib/rosapi/rosapi_node", line 610, in <module> ×2 + 10.27sINFOrosapi_nodemain() ×2 + 10.27sINFOrosapi_nodeFile "/opt/ros/jazzy/lib/rosapi/rosapi_node", line 602, in main ×2 + 10.27sINFOrosapi_noderclpy.spin(node) ×2 + 10.27sINFOrosapi_nodeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.27sINFOrosapi_nodeexecutor.spin_once() ×2 + 10.27sINFOcontroller_managerShutdown request received.... + 10.27sINFOrosapi_nodeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.28sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.28sINFOrosapi_nodeself._spin_once_impl(timeout_sec) ×2 + 10.28sINFOrosapi_nodeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.28sINFOrosapi_nodehandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.28sINFOcontroller_managerDeactivating controller 'joint_trajectory_admittance_controller' + 10.28sINFOrosapi_node^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.28sINFOcontroller_managerShutting down controller 'joint_trajectory_admittance_controller' + 10.28sINFOrosapi_nodeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.28sINFOrosapi_nodereturn next(self._cb_iter) ×2 + 10.28sINFOrosapi_node^^^^^^^^^^^^^^^^^^^ ×2 + 10.28sINFOrosapi_nodeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.28sINFOrosapi_noderaise ExternalShutdownException() ×2 + 10.28sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.28sINFOrosapi_noderclpy.executors.ExternalShutdownException ×2 + 10.28sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.28sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.28sINFOcontroller_managerDeactivating controller 'robotiq_gripper_controller' + 10.28sINFOcontroller_managerShutting down controller 'robotiq_gripper_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.28sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.28sERRORui_teleop_bridgeTraceback (most recent call last): ×2 + 10.28sINFOui_teleop_bridgeFile "/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/ui_teleop_bridge", line 33, in <module> ×2 + 10.28sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.28sINFOui_teleop_bridgesys.exit(load_entry_point('moveit-studio-bridge==9.4.0', 'console_scripts', 'ui_teleop_bridge')()) ×2 + 10.28sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.28sINFOui_teleop_bridge^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.28sINFOui_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 + 10.28sINFOui_teleop_bridgerclpy.shutdown() ×2 + 10.28sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 134, in shutdown ×2 + 10.28sINFOui_teleop_bridge_shutdown(context=context) ×2 + 10.28sINFOcontroller_managerShutting down the controller manager. + 10.28sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/utilities.py", line 82, in shutdown ×2 + 10.28sINFOui_teleop_bridgecontext.shutdown() ×2 + 10.28sINFOui_teleop_bridgeFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/context.py", line 129, in shutdown ×2 + 10.28sINFOui_teleop_bridgeself.__context.shutdown() ×2 + 10.28sINFOui_teleop_bridgerclpy._rclpy_pybind11.RCLError: failed to shutdown: rcl_shutdown already called on the given context, at ./src/rcl/init.c:333 ×2 + 10.28sWARNros2_control_nodeOverrun might occur, Total time : 2324.840 us (Expected < 1666.667 us) --> Read time : 199.194 us, Update time : 50.741 us, Write time : 2074.905 us[0m ×2 + 10.28sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.28sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.28sERRORmove_groupStack trace (most recent call last) in thread 8995: ×2 + 10.28sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.28sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a248a9a63, in __clone ×2 + 10.28sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a2481caa3, in ×2 + 10.28sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a24aaedb3, in ×2 + 10.28sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.9.4.0", at 0x7f1a2510318a, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.28sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a24e214d0, in rclcpp::Rate::sleep() ×2 + 10.28sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a24d74a88, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.28sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f1a24d39a71, in ×2 + 10.28sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a24a7d390, in __cxa_throw ×2 + 10.28sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a24a67a54, in std::terminate() ×2 + 10.28sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.28sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.28sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.28sINFOros2_control_nodeDeactivating controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.28sINFOros2_control_nodeShutting down controller 'joint_trajectory_admittance_controller'[0m ×2 + 10.28sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.28sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.28sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.28sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a24a7d0d9, in ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'robotiq_gripper_controller'[0m ×2 + 10.29sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f1a24a67ff4, in ×2 + 10.29sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a247a88fe, in abort ×2 + 10.29sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a247c527d, in raise ×2 + 10.29sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f1a2481eb2c, in pthread_kill ×2 + 10.29sERRORmove_groupAborted (Signal sent by tkill() 8762 0) ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.29sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.29sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.29sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.29sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.29sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.29sERRORmove_group-9process has died [pid 8762, 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__p6v0_5h --params-file /tmp/launch_params_9_5gibh_ --params-file /tmp/launch_params_77rfy8eh --params-file /tmp/launch_params_t6bhsk6i --params-file /tmp/launch_params_n10am4kn --params-file /tmp/launch_params_b62ewu3y --params-file /tmp/launch_params_id723wf2 --params-file /tmp/launch_params_o56txe2f --params-file /tmp/launch_params_s48xsrv3']. ×2 + 10.36sINFOobjective_server_node[0;m[2026-06-02 20:55:19.701] [moveit_pro_license] [info] ×2 + 10.36sINFOobjective_server_node************************************************* ×4 + 10.36sINFOobjective_server_node* MoveIt Pro License ×2 + 10.36sINFOobjective_server_node* Application has successfully terminated ×2 + 10.40sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.40sINFOros2_control_nodepublish_async_failures_ 6[0m ×2 + 10.41sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 10.47sERRORobjective_server_nodeStack trace (most recent call last): ×2 + 10.49sINFOobjective_server_node#18 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.49sINFOobjective_server_node#17 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b177c06a4, in _start ×2 + 10.49sINFOobjective_server_node#16 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb43282d28a, in __libc_start_main ×2 + 10.49sINFOobjective_server_node#15 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb43282d1d0, in ×2 + 10.49sINFOobjective_server_node#14 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb43284abbd, in exit ×2 + 10.49sINFOobjective_server_node#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fb43284aa75, in ×2 + 10.49sINFOobjective_server_node#12 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fb432d1c4a2, in spdlog::details::registry::~registry() ×2 + 10.49sINFOobjective_server_node#11 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fb432d2769d, in std::_Hashtable<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> >, std::allocator<std::pair<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::shared_ptr<spdlog::logger> > >, std::__detail::_Select1st, std::equal_to<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::hash<std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::__detail::_Mod_range_hashing, std::__detail::_Default_ranged_hash, std::__detail::_Prime_rehash_policy, std::__detail::_Hashtable_traits<true, false, true> >::clear() ×2 + 10.49sINFOobjective_server_node#10 Object "/usr/lib/x86_64-linux-gnu/libspdlog.so.1.12.0", at 0x7fb432d21965, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.49sINFOobjective_server_node#9 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b177c7315, in std::_Sp_counted_ptr_inplace<spdlog::async_logger, std::allocator<void>, (__gnu_cxx::_Lock_policy)2>::_M_dispose() ×2 + 10.49sINFOobjective_server_node#8 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b177c65a9, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release() ×2 + 10.49sINFOobjective_server_node#7 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b177c2b7b, in spdlog_ros::RosSink::~RosSink() ×2 + 10.49sINFOobjective_server_node#6 Object "/opt/overlay_ws/install/moveit_studio_agent/lib/moveit_studio_agent/objective_server_node_main", at 0x562b177c0d79, in std::_Sp_counted_base<(__gnu_cxx::_Lock_policy)2>::_M_release_last_use_cold() ×2 + 10.49sINFOobjective_server_node#5 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb433390454, in rclcpp::Node::~Node() ×2 + 10.49sINFOobjective_server_node#4 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb43334b515, in ×2 + 10.49sINFOobjective_server_node#3 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb43338ed20, in ×2 + 10.49sINFOobjective_server_node#2 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb43338ec63, in rclcpp::node_interfaces::NodeBase::~NodeBase() ×2 + 10.49sINFOobjective_server_node#1 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb43334b5d9, in ×2 + 10.49sINFOobjective_server_node#0 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fb433350161, in rclcpp::CallbackGroup::~CallbackGroup() ×2 + 10.49sERRORobjective_server_nodeSegmentation fault (Address not mapped to object [0x7fb3f27de508]) ×2 + 11.12sERRORobjective_server_node_main-14process has died [pid 8767, 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_6neoos_3 --params-file /tmp/launch_params_zjmc_qw8 --params-file /tmp/launch_params_f5qdzwuk --params-file /tmp/launch_params_sdl1x3nf --params-file /tmp/launch_params_0ycmflfq --params-file /tmp/launch_params_5nk7vvmb']. ×2 + 11.12sINFOlaunchprocess[objective_server_node_main-14] was required: shutting down launched system ×2 + 11.12sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×6 + 11.17sINFOweb_video_server-21process has finished cleanly [pid 8869] ×2 + 11.18sINFOtf2_web_republisher_node-20process has finished cleanly [pid 8868] ×2 + 11.18sINFOlaunchprocess[tf2_web_republisher_node-20] was required: shutting down launched system ×2 + 11.24sINFOrosbridge_websocket-19process has finished cleanly [pid 8772] ×2 + 11.24sINFOlaunchprocess[rosbridge_websocket-19] was required: shutting down launched system ×2 + 11.26sINFOmove_end_effector_resampler_node-13process has finished cleanly [pid 8766] ×2 + 11.27sINFOexecute_objective_bridge-16process has finished cleanly [pid 8769] ×2 + 11.27sINFOmove_joint_resampler_node-12process has finished cleanly [pid 8765] ×2 + 11.29sERRORui_teleop_bridge-17process has died [pid 8770, 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_6bivudlg']. ×2 + 11.30sINFOparameter_manager_node-10process has finished cleanly [pid 8763] ×2 + 11.32sINFOwaypoint_manager_node-11process has finished cleanly [pid 8764] ×2 + 11.35sERRORrosapi_node-18process has died [pid 8771, exit code 1, cmd '/opt/ros/jazzy/lib/rosapi/rosapi_node --ros-args -r __node:=rosapi --params-file /tmp/launch_params_54ht8nbj']. ×2 + 12.36sINFOcomponent_container_mt-15process has finished cleanly [pid 8768] ×2 + 13.03sINFOros2_control_node-1process has finished cleanly [pid 8736] ×2 | ||||
| ✓ passed | Playback Square Trajectory | playback_square_trajectory.xml | 10.5s | 3 errors · 93 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367421 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367421 ms (missed cycles : 3).[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 6108.849 us (Expected < 1666.667 us) --> Read time : 268.665 us, Update time : 5108.379 us, Write time : 731.805 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 6108.849 us (Expected < 1666.667 us) --> Read time : 268.665 us, Update time : 5108.379 us, Write time : 731.805 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929950 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929950 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 1805.729 us (Expected < 1666.667 us) --> Read time : 253.576 us, Update time : 1098.673 us, Write time : 453.480 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 1805.729 us (Expected < 1666.667 us) --> Read time : 253.576 us, Update time : 1098.673 us, Write time : 453.480 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163462 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163462 ms (missed cycles : 3).[0m ×2 + 3.02sWARNcontroller_managerOverrun might occur, Total time : 2811.740 us (Expected < 1666.667 us) --> Read time : 2390.741 us, Update time : 44.751 us, Write time : 376.248 us + 3.02sWARNros2_control_nodeOverrun might occur, Total time : 2811.740 us (Expected < 1666.667 us) --> Read time : 2390.741 us, Update time : 44.751 us, Write time : 376.248 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107400 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107400 ms (missed cycles : 2).[0m ×2 + 3.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780433675.68832493 seconds ×3 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780433676.25026512 seconds. ×3 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 8336.587 us (Expected < 1666.667 us) --> Read time : 272.426 us, Update time : 7500.959 us, Write time : 563.202 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 8336.587 us (Expected < 1666.667 us) --> Read time : 272.426 us, Update time : 7500.959 us, Write time : 563.202 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426081 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426081 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.26sINFOros2_control_node[2026-06-02 20:54:36.559] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-06-02 20:54:36.559] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 5332.234 us (Expected < 1666.667 us) --> Read time : 4735.481 us, Update time : 97.682 us, Write time : 499.071 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 5332.234 us (Expected < 1666.667 us) --> Read time : 4735.481 us, Update time : 97.682 us, Write time : 499.071 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567415 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567415 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192272 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192272 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 4270.891 us (Expected < 1666.667 us) --> Read time : 206.734 us, Update time : 3497.375 us, Write time : 566.782 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 4270.891 us (Expected < 1666.667 us) --> Read time : 206.734 us, Update time : 3497.375 us, Write time : 566.782 us[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908958 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908958 ms (missed cycles : 2).[0m ×2 + 7.73sWARNcontroller_managerOverrun might occur, Total time : 3930.183 us (Expected < 1666.667 us) --> Read time : 194.714 us, Update time : 3114.246 us, Write time : 621.223 us + 7.73sWARNros2_control_nodeOverrun might occur, Total time : 3930.183 us (Expected < 1666.667 us) --> Read time : 194.714 us, Update time : 3114.246 us, Write time : 621.223 us[0m ×2 + 8.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334762 ms (missed cycles : 4). + 8.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334762 ms (missed cycles : 4).[0m ×2 + 8.28sINFOros2_control_node[2026-06-02 20:54:40.576] [info] Received new action goal ×2 + 8.28sINFOros2_control_node[2026-06-02 20:54:40.576] [info] Accepted new action goal ×2 + 9.00sWARNcontroller_managerOverrun might occur, Total time : 3490.514 us (Expected < 1666.667 us) --> Read time : 266.606 us, Update time : 2701.907 us, Write time : 522.001 us + 9.00sWARNros2_control_nodeOverrun might occur, Total time : 3490.514 us (Expected < 1666.667 us) --> Read time : 266.606 us, Update time : 2701.907 us, Write time : 522.001 us[0m ×2 + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954621 ms (missed cycles : 5). + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.954621 ms (missed cycles : 5).[0m ×2 + 10.15sWARNcontroller_managerOverrun might occur, Total time : 3181.977 us (Expected < 1666.667 us) --> Read time : 2492.153 us, Update time : 83.622 us, Write time : 606.202 us + 10.15sWARNros2_control_nodeOverrun might occur, Total time : 3181.977 us (Expected < 1666.667 us) --> Read time : 2492.153 us, Update time : 83.622 us, Write time : 606.202 us[0m ×2 + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149869 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149869 ms (missed cycles : 2).[0m ×2 + 11.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386608 ms (missed cycles : 4). + 11.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386608 ms (missed cycles : 4).[0m ×2 + 11.82sWARNcontroller_managerOverrun might occur, Total time : 1834.729 us (Expected < 1666.667 us) --> Read time : 792.787 us, Update time : 129.083 us, Write time : 912.859 us + 11.82sWARNros2_control_nodeOverrun might occur, Total time : 1834.729 us (Expected < 1666.667 us) --> Read time : 792.787 us, Update time : 129.083 us, Write time : 912.859 us[0m ×2 + 12.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205252 ms (missed cycles : 3). + 12.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205252 ms (missed cycles : 3).[0m ×2 + 12.90sWARNcontroller_managerOverrun might occur, Total time : 3106.646 us (Expected < 1666.667 us) --> Read time : 256.775 us, Update time : 2248.938 us, Write time : 600.933 us + 12.90sWARNros2_control_nodeOverrun might occur, Total time : 3106.646 us (Expected < 1666.667 us) --> Read time : 256.775 us, Update time : 2248.938 us, Write time : 600.933 us[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.895110 ms (missed cycles : 8). + 13.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.895110 ms (missed cycles : 8).[0m ×2 + 13.86sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780433686.15910339 seconds ×3 + 13.95sWARNcontroller_managerOverrun might occur, Total time : 4113.058 us (Expected < 1666.667 us) --> Read time : 211.115 us, Update time : 3361.691 us, Write time : 540.252 us + 13.95sWARNros2_control_nodeOverrun might occur, Total time : 4113.058 us (Expected < 1666.667 us) --> Read time : 211.115 us, Update time : 3361.691 us, Write time : 540.252 us[0m ×2 + 14.43sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780433686.72916126 seconds. ×3 + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378437 ms (missed cycles : 4). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378437 ms (missed cycles : 4).[0m ×2 + 14.56sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 14.56sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 14.57sINFOros2_control_node[2026-06-02 20:54:46.864] [info] Received new action goal ×2 + 14.57sINFOros2_control_node[2026-06-02 20:54:46.864] [info] Accepted new action goal ×2 + 15.47sWARNcontroller_managerOverrun might occur, Total time : 2377.311 us (Expected < 1666.667 us) --> Read time : 186.204 us, Update time : 1772.758 us, Write time : 418.349 us + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2). + 15.47sWARNros2_control_nodeOverrun might occur, Total time : 2377.311 us (Expected < 1666.667 us) --> Read time : 186.204 us, Update time : 1772.758 us, Write time : 418.349 us[0m ×2 + 15.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2).[0m ×2 + 16.48sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.502230 ms (missed cycles : 6). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.502230 ms (missed cycles : 6).[0m ×2 + 16.70sWARNcontroller_managerOverrun might occur, Total time : 8562.642 us (Expected < 1666.667 us) --> Read time : 281.536 us, Update time : 7568.571 us, Write time : 712.535 us + 16.70sWARNros2_control_nodeOverrun might occur, Total time : 8562.642 us (Expected < 1666.667 us) --> Read time : 281.536 us, Update time : 7568.571 us, Write time : 712.535 us[0m ×2 | ||||
| ✓ passed | ML Find Objects on Table | ml_find_objects_on_table.xml | 8.0s | 87 warnings · 130 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×10 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433483.46986151 seconds. ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.62sWARNcontroller_managerOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433483.55000639 seconds ×3 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433484.12150717 seconds. ×3 + 1.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 1.32sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4).[0m ×2 + 1.33sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Received new action goal ×2 + 1.33sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433486.26165390 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433486.82239795 seconds. ×3 + 4.04sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3).[0m ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4).[0m ×2 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us + 5.98sWARNros2_control_nodeOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7).[0m ×2 + 7.21sWARNcontroller_managerOverrun might occur, Total time : 3695.209 us (Expected < 1666.667 us) --> Read time : 202.475 us, Update time : 56.801 us, Write time : 3435.933 us + 7.21sWARNros2_control_nodeOverrun might occur, Total time : 3695.209 us (Expected < 1666.667 us) --> Read time : 202.475 us, Update time : 56.801 us, Write time : 3435.933 us[0m ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513566 ms (missed cycles : 6). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.513566 ms (missed cycles : 6).[0m ×2 + 8.26sWARNcontroller_managerOverrun might occur, Total time : 9815.101 us (Expected < 1666.667 us) --> Read time : 218.705 us, Update time : 9117.866 us, Write time : 478.530 us + 8.26sWARNros2_control_nodeOverrun might occur, Total time : 9815.101 us (Expected < 1666.667 us) --> Read time : 218.705 us, Update time : 9117.866 us, Write time : 478.530 us[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820417 ms (missed cycles : 2). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820417 ms (missed cycles : 2).[0m ×2 + 8.96sINFOobjective_server_node[0;93m2026-06-02 20:51:31.881099985 [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 + 8.96sINFOobjective_server_node[0;93m2026-06-02 20:51:31.881133576 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.40sWARNcontroller_managerOverrun might occur, Total time : 1677.616 us (Expected < 1666.667 us) --> Read time : 655.784 us, Update time : 116.423 us, Write time : 905.409 us + 9.41sWARNros2_control_nodeOverrun might occur, Total time : 1677.616 us (Expected < 1666.667 us) --> Read time : 655.784 us, Update time : 116.423 us, Write time : 905.409 us[0m ×2 + 9.51sINFOobjective_server_node[0;93m2026-06-02 20:51:32.432469292 [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 + 9.51sINFOobjective_server_node[0;93m2026-06-02 20:51:32.432517053 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743226 ms (missed cycles : 3). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743226 ms (missed cycles : 3).[0m ×2 + 9.66sINFOobjective_server_node[0;93m2026-06-02 20:51:32.575519790 [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 + 9.66sINFOobjective_server_node[0;93m2026-06-02 20:51:32.579098297 [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 + 9.66sINFOobjective_server_node[0;93m2026-06-02 20:51:32.579160078 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 9.98sINFOobjective_server_node[0;93m2026-06-02 20:51:32.898471227 [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 + 9.99sINFOobjective_server_node[0;93m2026-06-02 20:51:32.912893416 [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 + 9.99sINFOobjective_server_node[0;93m2026-06-02 20:51:32.912929287 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 10.44sWARNcontroller_managerOverrun might occur, Total time : 4147.578 us (Expected < 1666.667 us) --> Read time : 152.213 us, Update time : 3447.394 us, Write time : 547.971 us + 10.44sWARNros2_control_nodeOverrun might occur, Total time : 4147.578 us (Expected < 1666.667 us) --> Read time : 152.213 us, Update time : 3447.394 us, Write time : 547.971 us[0m ×2 + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312762 ms (missed cycles : 2). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312762 ms (missed cycles : 2).[0m ×2 + 11.35sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 11.45sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 11.45sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 11.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 11.95sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 12.47sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 12.48sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 12.51sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 12.51sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 12.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 13.01sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 13.01sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.13sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 13.14sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 13.14sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.50sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 13.52sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 13.52sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 13.56sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 13.57sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 14.37sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 14.56sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 14.57sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 14.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 14.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | ML Segment Bottles from File | ml_segment_bottles_from_file.xml | 3.0s | 57 warnings · 80 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 9815.101 us (Expected < 1666.667 us) --> Read time : 218.705 us, Update time : 9117.866 us, Write time : 478.530 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 9815.101 us (Expected < 1666.667 us) --> Read time : 218.705 us, Update time : 9117.866 us, Write time : 478.530 us[0m ×2 + 0.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820417 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.820417 ms (missed cycles : 2).[0m ×2 + 0.70sINFOobjective_server_node[0;93m2026-06-02 20:51:31.881099985 [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;93m2026-06-02 20:51:31.881133576 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 1677.616 us (Expected < 1666.667 us) --> Read time : 655.784 us, Update time : 116.423 us, Write time : 905.409 us + 1.15sWARNros2_control_nodeOverrun might occur, Total time : 1677.616 us (Expected < 1666.667 us) --> Read time : 655.784 us, Update time : 116.423 us, Write time : 905.409 us[0m ×2 + 1.25sINFOobjective_server_node[0;93m2026-06-02 20:51:32.432469292 [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 + 1.25sINFOobjective_server_node[0;93m2026-06-02 20:51:32.432517053 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743226 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.743226 ms (missed cycles : 3).[0m ×2 + 1.40sINFOobjective_server_node[0;93m2026-06-02 20:51:32.575519790 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-02 20:51:32.579098297 [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 + 1.40sINFOobjective_server_node[0;93m2026-06-02 20:51:32.579160078 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.72sINFOobjective_server_node[0;93m2026-06-02 20:51:32.898471227 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-02 20:51:32.912893416 [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 + 1.73sINFOobjective_server_node[0;93m2026-06-02 20:51:32.912929287 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.18sWARNcontroller_managerOverrun might occur, Total time : 4147.578 us (Expected < 1666.667 us) --> Read time : 152.213 us, Update time : 3447.394 us, Write time : 547.971 us + 2.18sWARNros2_control_nodeOverrun might occur, Total time : 4147.578 us (Expected < 1666.667 us) --> Read time : 152.213 us, Update time : 3447.394 us, Write time : 547.971 us[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312762 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.312762 ms (missed cycles : 2).[0m ×2 + 3.09sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.19sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 3.19sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 3.70sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 4.22sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 4.22sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 4.25sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 4.25sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 4.75sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 4.75sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 4.88sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 4.88sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 4.88sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.24sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 5.26sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 5.26sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 5.30sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 5.31sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 6.11sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 6.31sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 6.31sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 + 6.85sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433498.03302121 seconds. ×3 + 6.86sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 6.87sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 6.94sINFOobjective_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 + 6.95sINFOobjective_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 + 7.06sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 7.06sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 7.08sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.09sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Received new action goal ×2 + 7.09sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Accepted new action goal ×2 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4).[0m ×2 + 7.56sWARNcontroller_managerOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us + 7.56sWARNros2_control_nodeOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7).[0m ×2 + 8.83sWARNcontroller_managerOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us + 8.83sWARNros2_control_nodeOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Look at Table | look_at_table.xml | 2.7s | 57 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780433482.82992744 seconds ×3 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433483.46986151 seconds. ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sWARNcontroller_managerOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNros2_control_nodeOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433483.55000639 seconds ×3 + 3.80sWARNcontroller_managerOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us + 3.80sWARNros2_control_nodeOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433484.12150717 seconds. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4).[0m ×2 + 4.07sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433486.26165390 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us[0m ×2 + 6.63sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433486.82239795 seconds. ×3 + 6.78sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Received new action goal ×2 + 6.78sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Accepted new action goal ×2 + 7.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us + 7.48sWARNros2_control_nodeOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4).[0m ×2 + 8.72sWARNcontroller_managerOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us + 8.72sWARNros2_control_nodeOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7).[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 | 2.0s | 798 errors · 51 warnings · 890 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×265 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.558551694142375 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×530 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 5.558551694142375[0m ×2 + 0.03sWARNcontroller_managerOverrun might occur, Total time : 10635.479 us (Expected < 1666.667 us) --> Read time : 253.656 us, Update time : 9739.070 us, Write time : 642.753 us + 0.03sWARNros2_control_nodeOverrun might occur, Total time : 10635.479 us (Expected < 1666.667 us) --> Read time : 253.656 us, Update time : 9739.070 us, Write time : 642.753 us[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.690505051126680 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 7.690505051126680[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487805823540917 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 12.487805823540917[0m ×2 + 0.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.077668842429091 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 14.077668842429091[0m ×2 + 0.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.248043274909005 + 0.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.248043274909005[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.157034558176665 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 18.157034558176665[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.372242437668916 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 21.372242437668916[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.732773053469124 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 24.732773053469124[0m ×2 + 0.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.334020574758256 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 27.334020574758256[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.746765389723802 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 28.746765389723802[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.045945125030510 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.045945125030510[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.110338706536357 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 29.110338706536357[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.944354086948787 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.944354086948787[0m ×2 + 0.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120341968243602 + 0.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.120341968243602[0m ×2 + 0.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.964287387860454 + 0.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -4.964287387860454[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.783580069434630 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -7.783580069434630[0m ×2 + 0.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.129054694112156 + 0.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -9.129054694112156[0m ×2 + 0.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.772405415891948 + 0.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -10.772405415891948[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.529081068659099 ×2 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -12.529081068659099[0m ×4 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.382810076428573 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -14.382810076428573[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.142369036580980 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.142369036580980[0m ×2 + 0.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.529685672778982 ×2 + 0.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -17.529685672778982[0m ×4 + 0.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.709386398538147 + 0.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.709386398538147[0m ×2 + 0.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.777943529616650 + 0.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -20.777943529616650[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.804264243437068 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.804264243437068[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.852600056621991 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -22.852600056621991[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.076131947292698 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -24.076131947292698[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.462353775559098 ×2 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -23.462353775559098[0m ×4 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.207191881389569 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -21.207191881389569[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.197965671550758 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -18.197965671550758[0m ×2 + 0.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.078440511652985 + 0.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -16.078440511652985[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.774012019767214 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -11.774012019767214[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.883578204366273 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.883578204366273[0m ×2 + 0.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.932792987660302 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.932792987660302[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.389629640235569 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.389629640235569[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100291219010136 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.100291219010136[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.826292399768722 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -1.826292399768722[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.666236824891442 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -2.666236824891442[0m ×2 + 0.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.168638593468450 + 0.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.168638593468450[0m ×2 + 0.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.211808113679316 + 0.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 9.211808113679316[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.365502110248915 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 13.365502110248915[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.816748934230297 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 16.816748934230297[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.709613708823785 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.709613708823785[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.656486137161548 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.656486137161548[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.545211626910035 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.545211626910035[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.419116192085723 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.419116192085723[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.222536903587391 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.222536903587391[0m ×2 + 0.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.124651532143152 + 0.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.124651532143152[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081731456736213 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.081731456736213[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004467624398089 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004467624398089[0m ×2 + 0.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038058961984655 + 0.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.038058961984655[0m ×2 + 0.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.134688949232649 + 0.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.134688949232649[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135673474572616 + 0.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135673474572616[0m ×2 + 0.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.115717394775955 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.115717394775955[0m ×2 + 0.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.145429862293791 + 0.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.145429862293791[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.141019927750068 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.141019927750068[0m ×2 + 0.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877592 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877592[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877604 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.181061354877604[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234017805218931 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.234017805218931[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.249551232436150 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.249551232436150[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.306706276899890 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.306706276899890[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701127 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701127[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701125 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.337604913701125[0m ×2 + 0.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205520 ms (missed cycles : 2). + 0.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.205520 ms (missed cycles : 2).[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.397149484085613 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.397149484085613[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.739270180187461 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.739270180187461[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.525370465959146 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.525370465959146[0m ×2 + 0.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.721402965852330 + 0.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 1.721402965852330[0m ×2 + 0.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.069610058800884 + 0.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.069610058800884[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.502813564353421 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 2.502813564353421[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.864862716228314 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.864862716228314[0m ×2 + 0.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057655538756558 + 0.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.057655538756558[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047886925122034 + 0.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.047886925122034[0m ×2 + 0.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.037731796277835 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.037731796277835[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019661247390167 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019661247390167[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008664948512536 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008664948512536[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001883548012560 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001883548012560[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000803018535629 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000803018535629[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354045319110 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000354045319110[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132284818808 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000132284818808[0m ×2 + 1.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954056536485 + 1.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000954056536485[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586053441965 + 1.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001586053441965[0m ×2 + 1.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903456362709 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001903456362709[0m ×2 + 1.12sWARNcontroller_managerOverrun might occur, Total time : 4947.847 us (Expected < 1666.667 us) --> Read time : 424.370 us, Update time : 95.412 us, Write time : 4428.065 us + 1.12sWARNros2_control_nodeOverrun might occur, Total time : 4947.847 us (Expected < 1666.667 us) --> Read time : 424.370 us, Update time : 95.412 us, Write time : 4428.065 us[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002125647119801 + 1.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002125647119801[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437153891831 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002437153891831[0m ×2 + 1.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473516625590 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002473516625590[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507705302769 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002507705302769[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542791311511 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002542791311511[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579540987444 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002579540987444[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616551609508 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002616551609508[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651192819412 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002651192819412[0m ×2 + 1.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682107408642 + 1.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002682107408642[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708307227820 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002708307227820[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744221943274 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002744221943274[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757426649697 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002757426649697[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629937 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629937[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629936 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002769299629936[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782703608941 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002782703608941[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801821002092 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002801821002092[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006113211896 + 1.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001006113211896[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001470753323567 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001470753323567[0m ×2 + 1.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911198043486 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000911198043486[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000568064778679 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000568064778679[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004346244289 + 1.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.000004346244289[0m ×2 + 1.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000763388818832 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000763388818832[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001666795416781 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001666795416781[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002405409164362 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.002405409164362[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003479096677739 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003479096677739[0m ×2 + 1.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004656773458240 + 1.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004656773458240[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005787394143197 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005787394143197[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007701423872868 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.007701423872868[0m ×2 + 1.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008067065378063 + 1.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008067065378063[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009870983671229 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009870983671229[0m ×2 + 1.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011798834667621 + 1.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.011798834667621[0m ×2 + 1.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015172151271890 + 1.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.015172151271890[0m ×2 + 1.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019274726156669 + 1.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.019274726156669[0m ×2 + 1.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029645756620677 + 1.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.029645756620677[0m ×2 + 1.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022934378330167 + 1.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022934378330167[0m ×2 + 1.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017300885796482 + 1.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017300885796482[0m ×2 + 1.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058266912781797 + 1.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.058266912781797[0m ×2 + 1.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.091434312306263 + 1.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.091434312306263[0m ×2 + 1.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135584088010737 + 1.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.135584088010737[0m ×2 + 1.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040644309775684 + 1.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040644309775684[0m ×2 + 1.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.077197541893179 + 1.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.077197541893179[0m ×2 + 1.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080643692474163 + 1.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.080643692474163[0m ×2 + 1.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030357488311790 + 1.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030357488311790[0m ×2 + 1.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996134 + 1.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996134[0m ×2 + 1.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996124 + 1.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.041958364996124[0m ×2 + 1.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032333617966199 + 1.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032333617966199[0m ×2 + 1.72sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009720674260371 + 1.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009720674260371[0m ×2 + 1.73sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009395184785146 + 1.73sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009395184785146[0m ×2 + 1.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024712246417315 + 1.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024712246417315[0m ×2 + 1.75sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017785140886517 + 1.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017785140886517[0m ×2 + 1.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009607195001425 + 1.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.009607195001425[0m ×2 + 1.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011905355922148 + 1.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011905355922148[0m ×2 + 1.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221904724117 + 1.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004221904724117[0m ×2 + 1.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008510948893589 + 1.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008510948893589[0m ×2 + 1.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012971984180491 + 1.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.012971984180491[0m ×2 + 1.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241491168851 + 1.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.000241491168851[0m ×2 + 1.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013028415657044 + 1.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013028415657044[0m ×2 + 1.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009978453424517 + 1.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009978453424517[0m ×2 + 1.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972545841672 + 1.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002972545841672[0m ×2 + 1.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008922487430210 + 1.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.008922487430210[0m ×2 + 1.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007453740039590 + 1.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007453740039590[0m ×2 + 1.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939649 ms (missed cycles : 3). + 1.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939649 ms (missed cycles : 3).[0m ×2 + 1.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271905713463 + 1.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004271905713463[0m ×2 + 1.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001424944988932 + 1.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001424944988932[0m ×2 + 1.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362620673545 + 1.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003362620673545[0m ×2 + 1.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006612984717123 + 1.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006612984717123[0m ×2 + 1.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830876891354 + 1.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001830876891354[0m ×2 + 1.96sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680922480822 + 1.96sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001680922480822[0m ×2 + 1.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003109948708136 + 1.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003109948708136[0m ×2 + 1.98sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636586049707 + 1.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.002636586049707[0m ×2 + 2.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008779801011821 + 2.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008779801011821[0m ×2 + 2.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524876360304 + 2.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003524876360304[0m ×2 + 2.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915 + 2.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915[0m ×2 + 2.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625 + 2.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625[0m ×2 + 2.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507 + 2.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507[0m ×2 + 2.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429 + 2.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429[0m ×2 + 2.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559 + 2.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559[0m ×2 + 2.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379 + 2.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379[0m ×2 + 2.10sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048 + 2.10sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048[0m ×2 + 2.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811 + 2.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811[0m ×2 + 2.12sWARNcontroller_managerOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us + 2.12sWARNros2_control_nodeOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us[0m ×2 + 2.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284 + 2.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284[0m ×2 + 2.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431 + 2.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431[0m ×2 + 2.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478 + 2.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478[0m ×2 + 2.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378 + 2.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378[0m ×2 + 2.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553 + 2.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553[0m ×2 + 2.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048 + 2.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048[0m ×2 + 2.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877 + 2.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877[0m ×2 + 2.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785[0m ×2 + 2.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381 + 2.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381[0m ×2 + 2.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257 + 2.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257[0m ×2 + 2.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691 + 2.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691[0m ×2 + 2.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693 + 2.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693[0m ×2 + 2.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812 + 2.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812[0m ×2 + 2.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949 + 2.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330 + 2.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330[0m ×2 + 2.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871[0m ×2 + 2.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361 + 2.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361[0m ×2 + 2.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695 + 2.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695[0m ×2 + 2.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660 + 2.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660[0m ×2 + 2.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958 + 2.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958[0m ×2 + 2.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498 + 2.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498[0m ×2 + 2.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115 + 2.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115[0m ×2 + 2.43sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309 + 2.43sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309[0m ×2 + 2.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097 + 2.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097[0m ×2 + 2.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890 + 2.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890[0m ×2 + 2.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585 + 2.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585[0m ×2 + 2.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637 + 2.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637[0m ×2 + 2.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706 + 2.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706[0m ×2 + 2.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641 + 2.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641[0m ×2 + 2.52sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886 + 2.52sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886[0m ×2 + 2.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827 + 2.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827[0m ×2 + 2.54sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846 + 2.54sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846[0m ×2 + 2.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669 + 2.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669[0m ×2 + 2.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907 + 2.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907[0m ×2 + 2.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478 + 2.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478[0m ×2 + 2.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034 + 2.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034[0m ×2 + 2.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695 + 2.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695[0m ×2 + 2.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145 + 2.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145[0m ×2 + 2.63sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815 + 2.63sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815[0m ×2 + 2.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056 + 2.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056[0m ×2 + 2.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411 + 2.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411[0m ×2 + 2.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728 + 2.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728[0m ×2 + 2.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691 + 2.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691[0m ×2 + 2.69sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144 + 2.69sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144[0m ×2 + 2.70sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342 + 2.70sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342[0m ×2 + 2.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583 + 2.71sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583[0m ×2 + 2.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873 + 2.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856 + 2.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856[0m ×2 + 2.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663 + 2.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663[0m ×2 + 2.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863 + 2.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863[0m ×2 + 2.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153 + 2.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153[0m ×2 + 2.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212 + 2.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212[0m ×2 + 2.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800 + 2.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800[0m ×2 + 2.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073 + 2.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073[0m ×2 + 2.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073 + 2.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073[0m ×2 + 2.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474 + 2.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474[0m ×2 + 2.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877 + 2.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877[0m ×2 + 2.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231 + 2.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231[0m ×2 + 2.88sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451 + 2.88sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451[0m ×2 + 2.89sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367 + 2.89sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367[0m ×2 + 2.90sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159 + 2.90sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159[0m ×2 + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3).[0m ×2 + 2.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031 + 2.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031[0m ×2 + 2.95sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191 + 2.95sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191[0m ×2 + 2.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539 + 2.97sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539[0m ×2 + 3.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526 + 3.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526[0m ×2 + 3.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024 + 3.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024[0m ×2 + 3.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894 + 3.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894[0m ×2 + 3.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733 + 3.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733[0m ×2 + 3.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835 + 3.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835[0m ×2 + 3.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769 + 3.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769[0m ×2 + 3.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884 + 3.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884[0m ×2 + 3.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974 + 3.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974[0m ×2 + 3.09sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983 + 3.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983[0m ×2 + 3.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489 + 3.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489[0m ×2 + 3.13sWARNcontroller_managerOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us + 3.13sWARNros2_control_nodeOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us[0m ×2 + 3.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675 + 3.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675[0m ×2 + 3.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688 + 3.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688[0m ×2 + 3.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530 + 3.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530[0m ×2 + 3.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237 + 3.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237[0m ×2 + 3.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909 + 3.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909[0m ×2 + 3.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606 + 3.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606[0m ×2 + 3.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810 + 3.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810[0m ×2 + 3.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475 + 3.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475[0m ×2 + 3.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592 + 3.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592[0m ×2 + 3.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918 + 3.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918[0m ×2 + 3.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640 + 3.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640[0m ×2 + 3.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178 + 3.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178[0m ×2 + 3.28sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302 + 3.28sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302[0m ×2 + 3.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791 + 3.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791[0m ×2 + 3.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211 + 3.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211[0m ×2 + 3.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374 + 3.32sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374[0m ×2 + 3.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474 + 3.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474[0m ×2 + 3.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268 + 3.35sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268[0m ×2 + 3.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000 + 3.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000[0m ×2 + 3.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217 + 3.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217[0m ×2 + 3.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952 + 3.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952[0m ×2 + 3.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511 + 3.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511[0m ×2 + 3.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838 + 3.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838[0m ×2 + 3.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371 + 3.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371[0m ×2 + 3.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233 + 3.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233[0m ×2 + 3.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667 + 3.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667[0m ×2 + 3.47sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670 + 3.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433589.25879073 seconds ×3 + 3.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670[0m ×2 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.48sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4).[0m ×2 + 4.06sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433589.84896111 seconds. ×3 + 4.14sINFOobjective_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 + 4.14sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.14sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 4.14sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 4.14sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 4.14sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.14sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.14sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 4.14sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 4.14sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 4.14sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 4.23sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 4.25sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Received new action goal ×2 + 4.25sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Accepted new action goal ×2 + 4.29sWARNcontroller_managerOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us + 4.29sWARNros2_control_nodeOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us[0m ×2 + 4.32sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 4.37sINFOobjective_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 + 4.40sINFOobjective_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 + 4.41sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.41sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.42sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.42sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.42sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.42sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.42sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.42sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4). + 5.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4).[0m ×2 + 5.51sERRORobjective_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 + 5.51sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433591.29514551 seconds ×3 + 5.53sWARNcontroller_managerOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us + 5.54sWARNros2_control_nodeOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us[0m ×2 + 6.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6). + 6.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6).[0m ×2 + 6.12sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780433591.90760827 seconds. ×3 + 6.28sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 6.28sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 6.30sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Received new action goal ×2 + 6.30sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Accepted new action goal ×2 + 6.60sWARNcontroller_managerOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us[0m ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.868838 ms (missed cycles : 6). + 7.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.868838 ms (missed cycles : 6).[0m ×2 + 7.85sWARNcontroller_managerOverrun might occur, Total time : 3154.797 us (Expected < 1666.667 us) --> Read time : 236.315 us, Update time : 379.858 us, Write time : 2538.624 us + 7.85sWARNros2_control_nodeOverrun might occur, Total time : 3154.797 us (Expected < 1666.667 us) --> Read time : 236.315 us, Update time : 379.858 us, Write time : 2538.624 us[0m ×2 + 8.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873296 ms (missed cycles : 5). + 8.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873296 ms (missed cycles : 5).[0m ×2 + 8.92sWARNcontroller_managerOverrun might occur, Total time : 1696.436 us (Expected < 1666.667 us) --> Read time : 248.955 us, Update time : 66.992 us, Write time : 1380.489 us + 8.93sWARNros2_control_nodeOverrun might occur, Total time : 1696.436 us (Expected < 1666.667 us) --> Read time : 248.955 us, Update time : 66.992 us, Write time : 1380.489 us[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.9s | 3 errors · 54 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us + 2.49sWARNros2_control_nodeOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2).[0m ×2 + 3.36sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Got request to cancel active goal. ×2 + 3.36sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Canceling active goal... ×2 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433709.70513988 seconds ×3 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433710.26620245 seconds. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433711.60634947 seconds ×3 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us + 5.70sWARNros2_control_nodeOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433712.16521645 seconds. ×3 + 5.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.83sINFOobjective_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 + 5.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433712.16772676 seconds ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433712.72707796 seconds. ×3 + 6.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433712.72768164 seconds ×3 + 6.99sWARNcontroller_managerOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us + 6.99sWARNros2_control_nodeOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us[0m ×2 + 7.05sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433713.38088989 seconds. ×3 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3).[0m ×2 + 7.72sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433714.05103779 seconds ×3 + 7.75sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 8.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6). + 8.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6).[0m ×2 + 8.25sWARNcontroller_managerOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us + 8.25sWARNros2_control_nodeOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us[0m ×2 | ||||
| ✓ passed | Close Gripper | close_gripper.xml | 1.7s | 62 warnings · 355 info |
+ 0.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 0.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 0.00sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 0.00sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 0.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.02sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 0.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 0.02sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 0.02sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 0.02sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 0.02sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 0.02sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 0.03sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 0.03sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 0.03sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 0.03sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 0.04sINFOcontroller_managerSuccessfully switched controllers! ×6 + 0.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×12 + 0.04sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 0.04sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 0.11sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 0.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 0.26sINFOobjective_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 + 0.26sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 0.27sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 0.28sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 0.28sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 0.28sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 0.28sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 0.28sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 0.28sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 0.28sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 0.30sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 0.30sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 0.33sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 0.33sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 0.33sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 0.33sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712156 ms (missed cycles : 3). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712156 ms (missed cycles : 3).[0m ×2 + 0.37sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 8739] ×2 + 0.38sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 0.38sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 0.38sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 0.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 0.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 0.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 0.43sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 0.47sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.48sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 0.51sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 0.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 0.51sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 0.52sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 0.52sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 0.54sINFOmove_group ×4 + 0.55sINFOmove_group[92mYou can start planning now![0m ×2 + 0.55sINFOros2_control_node[2026-06-02 20:49:50.345] [info] Controller state will be published at 20 Hz. ×2 + 0.55sINFOros2_control_node[2026-06-02 20:49:50.346] [info] JointVelocityController 'on_configure' succeeded. ×2 + 0.66sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 0.69sWARNcontroller_managerOverrun might occur, Total time : 2283.219 us (Expected < 1666.667 us) --> Read time : 1257.687 us, Update time : 350.797 us, Write time : 674.735 us + 0.70sWARNros2_control_nodeOverrun might occur, Total time : 2283.219 us (Expected < 1666.667 us) --> Read time : 1257.687 us, Update time : 350.797 us, Write time : 674.735 us[0m ×2 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 0.78sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 0.78sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.78sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.81sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 8746] ×2 + 0.85sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 0.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 0.86sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 0.86sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 0.86sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 0.86sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 0.86sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 0.86sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 0.86sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 0.86sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 0.87sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 0.87sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 0.87sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 0.87sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 0.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 0.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 0.88sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 0.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 1.16sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 1.16sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 1.16sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 1.16sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 1.17sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 1.17sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 1.18sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 1.18sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 1.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 8740] ×2 + 1.22sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 1.22sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 1.22sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 1.22sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 1.22sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 1.22sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 1.22sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 1.22sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 1.23sWARNcontroller_managerOverrun might occur, Total time : 4082.737 us (Expected < 1666.667 us) --> Read time : 190.064 us, Update time : 3362.262 us (Switch time : 3297.390 us (Switch chained mode time : 0.830 us, perform mode change time : 1.920 us, Activation time : 3286.300 us, Deactivation time : 0.470 us)), Write time : 530.411 us + 1.23sWARNros2_control_nodeOverrun might occur, Total time : 4082.737 us (Expected < 1666.667 us) --> Read time : 190.064 us, Update time : 3362.262 us (Switch time : 3297.390 us (Switch chained mode time : 0.830 us, perform mode change time : 1.920 us, Activation time : 3286.300 us, Deactivation time : 0.470 us)), Write time : 530.411 us[0m ×2 + 1.23sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 1.23sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776321 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776321 ms (missed cycles : 2).[0m ×2 + 1.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 8738] ×2 + 1.54sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 1.54sINFOcontroller_managerLoading controller 'velocity_force_controller' + 1.54sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 1.54sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 1.62sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 1.62sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 1.66sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 1.66sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 1.67sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 1.67sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 1.70sINFOros2_control_node[2026-06-02 20:49:51.494] [info] Controller state will be published at 10 Hz. ×2 + 1.70sINFOros2_control_node[2026-06-02 20:49:51.495] [info] VelocityForceController 'on_configure' succeeded. ×2 + 2.01sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 2.01sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 2.01sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 2.01sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 2.01sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 2.01sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 2.03sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 8744] ×2 + 2.06sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 2.06sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 2.06sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 2.06sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 2.07sINFOforce_torque_sensor_broadcasterconfigure successful + 2.07sINFOros2_control_nodeconfigure successful[0m ×2 + 2.07sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 2.08sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 2.08sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 2.08sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 2.29sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 2.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 2.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 2.39sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 2.39sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 2.39sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 2.39sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 2.40sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 8737] ×2 + 2.47sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 2.47sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 2.52sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 2.52sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 2.52sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 2.52sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 2.52sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.52sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 2.55sINFOros2_control_node[2026-06-02 20:49:52.343] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 2.55sINFOros2_control_node[2026-06-02 20:49:52.343] [info] Controller state will be published at 50 Hz. ×2 + 2.55sINFOros2_control_node[2026-06-02 20:49:52.348] [info] Registered `FollowJointTrajectory` action server. ×2 + 2.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6).[0m ×2 + 2.86sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 8742] ×2 + 3.01sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780433392.81343913 seconds. ×3 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780433392.82408953 seconds ×3 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 3.59sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 3.59sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 3.59sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 4.50sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 5.52sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 5.52sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 5.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 6.34sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 6.73sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 6.73sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 6.90sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 6.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 7.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 7.63sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 7.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 7.87sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 7.87sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 8.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 8.30sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 8.30sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 8.30sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.30sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 8.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 8.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 8.32sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.32sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.32sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 8.33sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 8.33sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 8.33sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 8.33sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 | ||||
| ✓ passed | Open Gripper | open_gripper.xml | 1.6s | 45 warnings · 208 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.04sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.494] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.495] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 8744] ×2 + 0.44sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOforce_torque_sensor_broadcasterconfigure successful + 0.45sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×4 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 0.46sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 8737] ×2 + 0.85sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.85sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.90sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] Controller state will be published at 50 Hz. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.348] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6).[0m ×2 + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 8742] ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780433392.81343913 seconds. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780433392.82408953 seconds ×3 + 1.75sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 1.75sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 1.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 6.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 6.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 7.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 7.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 7.29sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 7.31sINFOobjective_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 + 7.31sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 7.31sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 7.31sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.31sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.31sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 7.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 7.31sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 7.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 7.41sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 7.41sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 7.42sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 7.42sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 7.70sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 7.70sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 8.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 8.23sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| ✓ passed | Load MuJoCo Robot State | load_mujoco_robot_state.xml | 0.7s | 42 warnings · 76 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780433482.82992744 seconds ×3 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433483.46986151 seconds. ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sWARNcontroller_managerOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNros2_control_nodeOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433483.55000639 seconds ×3 + 3.80sWARNcontroller_managerOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us + 3.80sWARNros2_control_nodeOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433484.12150717 seconds. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4).[0m ×2 + 4.07sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433486.26165390 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us[0m ×2 + 6.63sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433486.82239795 seconds. ×3 + 6.78sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Received new action goal ×2 + 6.78sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Accepted new action goal ×2 | ||||
| ✓ passed | Clear Previous Obstacles | clear_previous_obstacles.xml | 0.7s | 39 warnings · 45 info |
+ 0.00sINFOros2_control_node[2026-06-02 20:50:34.481] [info] Received new action goal ×2 + 0.00sINFOros2_control_node[2026-06-02 20:50:34.481] [info] Accepted new action goal ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.824335 ms (missed cycles : 8). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.824335 ms (missed cycles : 8).[0m ×2 + 1.40sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 1.40sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6).[0m ×2 + 1.59sWARNcontroller_managerOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us + 1.60sWARNros2_control_nodeOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us[0m ×2 + 1.76sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 1.77sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Received new action goal ×2 + 1.77sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Accepted new action goal ×2 + 2.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6). + 2.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6).[0m ×2 + 2.60sWARNcontroller_managerOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us + 2.60sWARNros2_control_nodeOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780433437.63561249 seconds ×3 + 3.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.16sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3). + 3.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3).[0m ×2 + 3.75sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780433438.23518419 seconds. ×3 + 3.80sWARNcontroller_managerOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us[0m ×2 + 3.85sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780433438.33532429 seconds ×3 + 4.45sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780433438.93439817 seconds. ×3 + 4.46sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.56sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.56sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 4.57sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Received new action goal ×2 + 4.57sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Accepted new action goal ×2 + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2).[0m ×2 + 4.87sWARNcontroller_managerOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us + 4.87sWARNros2_control_nodeOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us[0m ×2 + 5.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5). + 5.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5).[0m ×2 + 5.91sWARNcontroller_managerOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us + 5.92sWARNros2_control_nodeOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2). + 6.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2).[0m ×2 + 6.94sWARNcontroller_managerOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us + 6.95sWARNros2_control_nodeOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us[0m ×2 | ||||
| ✓ passed | Add Table to Planning Scene | add_table_to_planning_scene.xml | 0.7s | 3 errors · 42 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 2.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.26sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.96sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.96sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 + 6.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Reset MuJoCo Robot | reset_mujoco_robot.xml | 0.7s | 3 errors · 45 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 4.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 4.67sINFOobjective_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 + 4.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 5.93sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 + 7.07sWARNcontroller_managerOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us + 7.07sWARNros2_control_nodeOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us[0m ×2 | ||||
| ✓ passed | Save Robot Joint State | save_robot_joint_state.xml | 0.6s | 3 errors · 42 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 1.17sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 4.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Vector and String Example | vector_and_string_example.xml | 0.6s | 3 errors · 42 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4).[0m ×2 + 0.48sWARNcontroller_managerOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us + 0.48sWARNros2_control_nodeOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2).[0m ×2 + 1.35sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Got request to cancel active goal. ×2 + 1.35sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Canceling active goal... ×2 + 1.36sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433709.70513988 seconds ×3 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 1.38sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us[0m ×2 + 1.92sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433710.26620245 seconds. ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3).[0m ×2 + 2.59sWARNcontroller_managerOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us + 2.59sWARNros2_control_nodeOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433711.60634947 seconds ×3 + 3.69sWARNcontroller_managerOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us + 3.69sWARNros2_control_nodeOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433712.16521645 seconds. ×3 + 3.82sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.82sINFOobjective_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 + 3.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433712.16772676 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7).[0m ×2 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433712.72707796 seconds. ×3 + 4.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433712.72768164 seconds ×3 + 4.98sWARNcontroller_managerOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us + 4.99sWARNros2_control_nodeOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us[0m ×2 + 5.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433713.38088989 seconds. ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433714.05103779 seconds ×3 + 5.74sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6).[0m ×2 + 6.24sWARNcontroller_managerOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us + 6.24sWARNros2_control_nodeOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us[0m ×2 | ||||
| ✓ passed | Visualize Grasp Link | visualize_grasp_link.xml | 0.6s | 3 errors · 45 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2).[0m ×2 + 0.87sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Got request to cancel active goal. ×2 + 0.87sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Canceling active goal... ×2 + 0.88sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433709.70513988 seconds ×3 + 0.89sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 0.90sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 1.04sWARNcontroller_managerOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us + 1.05sWARNros2_control_nodeOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us[0m ×2 + 1.44sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433710.26620245 seconds. ×3 + 1.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3). + 1.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us + 2.11sWARNros2_control_nodeOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3).[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433711.60634947 seconds ×3 + 3.21sWARNcontroller_managerOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us + 3.21sWARNros2_control_nodeOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433712.16521645 seconds. ×3 + 3.34sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 3.34sINFOobjective_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 + 3.35sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 3.35sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433712.16772676 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7).[0m ×2 + 3.90sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433712.72707796 seconds. ×3 + 3.91sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433712.72768164 seconds ×3 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 3065.135 us (Expected < 1666.667 us) --> Read time : 228.765 us, Update time : 1302.698 us, Write time : 1533.672 us[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1780433713.38088989 seconds. ×3 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585153 ms (missed cycles : 3).[0m ×2 + 5.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1780433714.05103779 seconds ×3 + 5.26sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6). + 5.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.582488 ms (missed cycles : 6).[0m ×2 + 5.76sWARNcontroller_managerOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us + 5.76sWARNros2_control_nodeOverrun might occur, Total time : 4301.882 us (Expected < 1666.667 us) --> Read time : 194.705 us, Update time : 3533.845 us, Write time : 573.332 us[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463579 ms (missed cycles : 4). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463579 ms (missed cycles : 4).[0m ×2 + 7.04sWARNcontroller_managerOverrun might occur, Total time : 2669.046 us (Expected < 1666.667 us) --> Read time : 580.032 us, Update time : 627.243 us, Write time : 1461.771 us + 7.04sWARNros2_control_nodeOverrun might occur, Total time : 2669.046 us (Expected < 1666.667 us) --> Read time : 580.032 us, Update time : 627.243 us, Write time : 1461.771 us[0m ×2 | ||||
| − skipped | ML Segment Image | ml_segment_image.xml | 0.1s | 39 warnings · 60 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 3.22sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433498.03302121 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | AddCollisionObjectToPlanningScene | addcollisionobjecttoplanningscene.xml | 0.1s | 3 errors · 39 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Place at Pose with Approval | place_at_pose_with_approval.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Create PCL Poses Vector | create_pcl_poses_vector.xml | 0.0s | 36 warnings · 41 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780433437.63561249 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780433438.23518419 seconds. ×3 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780433438.33532429 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780433438.93439817 seconds. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us[0m ×2 | ||||
| − skipped | ErrorCheckVectorSize | errorcheckvectorsize.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Collision Free Grasp Subtree | get_collision_free_grasp_subtree.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | GetPoseAtGripperandDisplay | get_pose_at_gripper_and_display.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Octomap Example | octomap_example.xml | 0.0s | 42 warnings · 2280 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 + 0.25sWARNcontroller_managerOverrun might occur, Total time : 2049.624 us (Expected < 1666.667 us) --> Read time : 294.057 us, Update time : 771.986 us, Write time : 983.581 us + 0.25sWARNros2_control_nodeOverrun might occur, Total time : 2049.624 us (Expected < 1666.667 us) --> Read time : 294.057 us, Update time : 771.986 us, Write time : 983.581 us[0m ×2 + 0.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580371 ms (missed cycles : 3). + 0.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580371 ms (missed cycles : 3).[0m ×2 + 1.29sWARNcontroller_managerOverrun might occur, Total time : 2301.819 us (Expected < 1666.667 us) --> Read time : 169.333 us, Update time : 1616.885 us, Write time : 515.601 us + 1.29sWARNros2_control_nodeOverrun might occur, Total time : 2301.819 us (Expected < 1666.667 us) --> Read time : 169.333 us, Update time : 1616.885 us, Write time : 515.601 us[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847199 ms (missed cycles : 3). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.847199 ms (missed cycles : 3).[0m ×2 + 2.35sWARNcontroller_managerOverrun might occur, Total time : 7051.691 us (Expected < 1666.667 us) --> Read time : 325.877 us, Update time : 6121.501 us, Write time : 604.313 us + 2.35sWARNros2_control_nodeOverrun might occur, Total time : 7051.691 us (Expected < 1666.667 us) --> Read time : 325.877 us, Update time : 6121.501 us, Write time : 604.313 us[0m ×2 + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298397 ms (missed cycles : 2). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.298397 ms (missed cycles : 2).[0m ×2 + 3.36sWARNcontroller_managerOverrun might occur, Total time : 1985.612 us (Expected < 1666.667 us) --> Read time : 493.440 us, Update time : 145.863 us, Write time : 1346.309 us + 3.36sWARNros2_control_nodeOverrun might occur, Total time : 1985.612 us (Expected < 1666.667 us) --> Read time : 493.440 us, Update time : 145.863 us, Write time : 1346.309 us[0m ×2 + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110884 ms (missed cycles : 2). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110884 ms (missed cycles : 2).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` succeeded at time: 1780433621.87589836 seconds ×3 + 3.48sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.49sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.98sINFOjoint_trajectory_controllerGoal reached, success! + 3.98sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.13sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` starting at time: 1780433622.52652359 seconds. ×3 + 4.13sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.13sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911389 ms (missed cycles : 2). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911389 ms (missed cycles : 2).[0m ×2 + 4.46sWARNcontroller_managerOverrun might occur, Total time : 2089.985 us (Expected < 1666.667 us) --> Read time : 165.733 us, Update time : 1491.252 us, Write time : 433.000 us + 4.46sWARNros2_control_nodeOverrun might occur, Total time : 2089.985 us (Expected < 1666.667 us) --> Read time : 165.733 us, Update time : 1491.252 us, Write time : 433.000 us[0m ×2 + 5.17sINFOobjective_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 + 5.17sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.17sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.17sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.17sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.17sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.17sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.18sINFOcontroller_managerSuccessfully switched controllers! + 5.18sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.18sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 5.30sINFOobjective_server_nodeFound path in 6 iterations (0.00502663 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X______________________________________X_____________________X] ×2 + 5.37sINFOros2_control_node[2026-06-02 20:53:43.772] [info] Received new action goal ×2 + 5.37sINFOros2_control_node[2026-06-02 20:53:43.772] [info] Accepted new action goal ×2 + 5.50sWARNcontroller_managerOverrun might occur, Total time : 4183.110 us (Expected < 1666.667 us) --> Read time : 171.674 us, Update time : 3531.455 us, Write time : 479.981 us + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394136 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun might occur, Total time : 4183.110 us (Expected < 1666.667 us) --> Read time : 171.674 us, Update time : 3531.455 us, Write time : 479.981 us[0m ×2 + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.394136 ms (missed cycles : 3).[0m ×2 + 6.50sWARNcontroller_managerOverrun might occur, Total time : 4518.096 us (Expected < 1666.667 us) --> Read time : 206.614 us, Update time : 3692.429 us, Write time : 619.053 us + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752496 ms (missed cycles : 3). + 6.50sWARNros2_control_nodeOverrun might occur, Total time : 4518.096 us (Expected < 1666.667 us) --> Read time : 206.614 us, Update time : 3692.429 us, Write time : 619.053 us[0m ×2 + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.752496 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Place at Pose Vector | place_at_pose_vector.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Add Point Cloud to Vector | add_point_cloud_to_vector.xml | 0.0s | 3 errors · 39 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 2.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.26sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.96sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.96sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 | ||||
| − skipped | Add Poses to MTC Task | add_poses_to_mtc_task.xml | 0.0s | 3 errors · 39 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1852.990 us (Expected < 1666.667 us) --> Read time : 816.827 us, Update time : 122.683 us, Write time : 913.480 us[0m ×2 + 0.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 1.09sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 1.09sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 2.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.25sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 2.25sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 2.26sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 2.26sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 2.33sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 2.33sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.96sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.96sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.97sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.98sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 3.49sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 3.49sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.67sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 4.31sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 4.31sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 4.31sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.50sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 5.54sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 6.61sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 6.61sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 | ||||
| − skipped | Add Waypoints to MTC Task | add_waypoints_to_mtc_task.xml | 0.0s | 3 errors · 39 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddBottlesToPlanningScene | addbottlestoplanningscene.xml | 0.0s | 3 errors · 39 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | AddCollisionBoxInFrontOfEndEffector | addcollisionboxinfrontofendeffector.xml | 0.0s | 3 errors · 39 warnings · 46 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.443879 ms (missed cycles : 3).[0m ×2 + 0.44sWARNcontroller_managerOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us + 0.44sWARNros2_control_nodeOverrun might occur, Total time : 2683.958 us (Expected < 1666.667 us) --> Read time : 233.355 us, Update time : 1896.511 us, Write time : 554.092 us[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.805732 ms (missed cycles : 5).[0m ×2 + 1.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.60sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×4 + 1.60sINFOobjective_server_nodePath shortcutter: [X_________________X] ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Received new action goal ×2 + 1.62sINFOros2_control_node[2026-06-02 20:50:08.484] [info] Accepted new action goal ×2 + 1.68sWARNcontroller_managerOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 1988.393 us (Expected < 1666.667 us) --> Read time : 198.724 us, Update time : 55.842 us, Write time : 1733.827 us[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.828378 ms (missed cycles : 4).[0m ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.179] [info] Got request to cancel active goal. ×2 + 2.31sINFOros2_control_node[2026-06-02 20:50:09.180] [info] Canceling active goal... ×2 + 2.33sERRORobjective_server_nodeExecution of Behavior Tree for Objective `3 Waypoints Pick and Place` was cancelled: Objective execution was halted at time: 1780433409.19565511 seconds ×3 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.34sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.85sWARNcontroller_managerOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us + 2.85sWARNros2_control_nodeOverrun might occur, Total time : 1675.247 us (Expected < 1666.667 us) --> Read time : 621.984 us, Update time : 415.759 us, Write time : 637.504 us[0m ×2 + 2.89sINFOobjective_server_nodeObjective `Add Table to Planning Scene` starting at time: 1780433409.76019287 seconds. ×3 + 3.02sINFOobjective_server_nodeObjective `Add Table to Planning Scene` succeeded at time: 1780433409.89036131 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822172 ms (missed cycles : 2).[0m ×2 + 3.66sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` starting at time: 1780433410.53188920 seconds. ×3 + 3.67sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.67sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.86sWARNcontroller_managerOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us + 3.86sWARNros2_control_nodeOverrun might occur, Total time : 2014.333 us (Expected < 1666.667 us) --> Read time : 191.614 us, Update time : 820.538 us, Write time : 1002.181 us[0m ×2 + 4.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3). + 4.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365063 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Received new action goal ×2 + 4.83sINFOros2_control_node[2026-06-02 20:50:11.696] [info] Accepted new action goal ×2 + 4.89sWARNcontroller_managerOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us + 4.90sWARNros2_control_nodeOverrun might occur, Total time : 7425.780 us (Expected < 1666.667 us) --> Read time : 191.574 us, Update time : 6730.135 us, Write time : 504.071 us[0m ×2 + 5.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196852 ms (missed cycles : 4).[0m ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1683.476 us (Expected < 1666.667 us) --> Read time : 741.806 us, Update time : 76.612 us, Write time : 865.058 us[0m ×2 + 6.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4). + 6.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.072147 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | ComputeLinkPoseFromWaypoint | computelinkposefromwaypoint.xml | 0.0s | 36 warnings · 41 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780433437.63561249 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780433438.23518419 seconds. ×3 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780433438.33532429 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780433438.93439817 seconds. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us[0m ×2 | ||||
| − skipped | Constrained Pick and Place Subtree | constrained_pick_and_place_subtree.xml | 0.0s | 36 warnings · 41 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780433437.63561249 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780433438.23518419 seconds. ×3 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780433438.33532429 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780433438.93439817 seconds. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us[0m ×2 | ||||
| − skipped | Create Pose Vector | create_pose_vector.xml | 0.0s | 36 warnings · 41 info |
+ 0.00sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.00sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 0.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.520883 ms (missed cycles : 6).[0m ×2 + 0.19sWARNcontroller_managerOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us + 0.20sWARNros2_control_nodeOverrun might occur, Total time : 4514.458 us (Expected < 1666.667 us) --> Read time : 285.116 us, Update time : 3724.051 us, Write time : 505.291 us[0m ×2 + 0.36sINFOobjective_server_nodePlanning for 2 path waypoints. ×3 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Received new action goal ×2 + 0.37sINFOros2_control_node[2026-06-02 20:50:36.249] [info] Accepted new action goal ×2 + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.508602 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us + 1.21sWARNros2_control_nodeOverrun might occur, Total time : 1705.167 us (Expected < 1666.667 us) --> Read time : 277.076 us, Update time : 84.722 us, Write time : 1343.369 us[0m ×2 + 1.76sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object` succeeded at time: 1780433437.63561249 seconds ×3 + 1.76sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.77sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457272 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Clear Previous Obstacles` starting at time: 1780433438.23518419 seconds. ×3 + 2.41sWARNcontroller_managerOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us + 2.41sWARNros2_control_nodeOverrun might occur, Total time : 2318.380 us (Expected < 1666.667 us) --> Read time : 304.476 us, Update time : 65.262 us, Write time : 1948.642 us[0m ×2 + 2.46sINFOobjective_server_nodeObjective `Clear Previous Obstacles` succeeded at time: 1780433438.33532429 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Cycle Between Waypoints` starting at time: 1780433438.93439817 seconds. ×3 + 3.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.16sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.16sINFOobjective_server_nodePath shortcutter: [X_____________X] ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Received new action goal ×2 + 3.18sINFOros2_control_node[2026-06-02 20:50:39.054] [info] Accepted new action goal ×2 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.889865 ms (missed cycles : 2).[0m ×2 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 1780.419 us (Expected < 1666.667 us) --> Read time : 323.157 us, Update time : 822.148 us, Write time : 635.114 us[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.837744 ms (missed cycles : 5).[0m ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2346.160 us (Expected < 1666.667 us) --> Read time : 311.057 us, Update time : 603.033 us, Write time : 1432.070 us[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697079 ms (missed cycles : 2).[0m ×2 + 5.55sWARNcontroller_managerOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us + 5.55sWARNros2_control_nodeOverrun might occur, Total time : 3125.758 us (Expected < 1666.667 us) --> Read time : 191.125 us, Update time : 2343.500 us, Write time : 591.133 us[0m ×2 | ||||
| − skipped | Fan Pose About Tool-Z Subtree | fan_pose_about_tool_z_subtree.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fit Bottle Model Subtree | fit_bottle_model_subtree.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Force Relaxation | force_relaxation.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Fuse Multiple Views Subtree | fuse_multiple_views_subtree.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get AprilTag Pose from Image | get_april_tag_pose_from_image.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Bottle Grasp via ICP Subtree | get_bottle_grasp_via_icp_subtree.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Get Transform Frame Pose | get_transform_frame_pose.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Grasp Planning | grasp_planning.xml | 0.0s | 3 errors · 39 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1834.980 us (Expected < 1666.667 us) --> Read time : 243.955 us, Update time : 637.864 us, Write time : 953.161 us[0m ×2 + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329631 ms (missed cycles : 3).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2006.003 us (Expected < 1666.667 us) --> Read time : 1454.791 us, Update time : 86.122 us, Write time : 465.090 us[0m ×2 + 1.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.23sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 1.24sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Received new action goal ×2 + 1.24sINFOros2_control_node[2026-06-02 20:50:47.096] [info] Accepted new action goal ×2 + 1.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2). + 1.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673552 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us + 2.14sWARNros2_control_nodeOverrun might occur, Total time : 2065.495 us (Expected < 1666.667 us) --> Read time : 916.340 us, Update time : 92.832 us, Write time : 1056.323 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.289601 ms (missed cycles : 4).[0m ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Got request to cancel active goal. ×2 + 3.32sINFOros2_control_node[2026-06-02 20:50:49.174] [info] Canceling active goal... ×2 + 3.34sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Cycle Between Waypoints` was cancelled: Objective execution was halted at time: 1780433449.19142056 seconds ×3 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.36sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.082372 ms (missed cycles : 7).[0m ×2 + 3.81sWARNcontroller_managerOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us + 3.81sWARNros2_control_nodeOverrun might occur, Total time : 4151.099 us (Expected < 1666.667 us) --> Read time : 174.243 us, Update time : 196.685 us, Write time : 3780.171 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Grasp Pose Tuning With April Tag` starting at time: 1780433449.78137422 seconds. ×3 + 3.93sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.93sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.111954 ms (missed cycles : 4).[0m ×2 + 5.11sINFOobjective_server_nodeFound path in 0 iterations (5.4e-07 s). ×2 + 5.11sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Received new action goal ×2 + 5.12sINFOros2_control_node[2026-06-02 20:50:50.976] [info] Accepted new action goal ×2 + 5.18sWARNcontroller_managerOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us + 5.18sWARNros2_control_nodeOverrun might occur, Total time : 2029.034 us (Expected < 1666.667 us) --> Read time : 1453.142 us, Update time : 79.302 us, Write time : 496.590 us[0m ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3). + 5.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747692 ms (missed cycles : 3).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 1973.103 us (Expected < 1666.667 us) --> Read time : 316.397 us, Update time : 1082.803 us, Write time : 573.903 us[0m ×2 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819952 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Joint Diagnostic | joint_diagnostic.xml | 0.0s | 3 errors · 39 warnings · 22 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621250 ms (missed cycles : 6). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.621250 ms (missed cycles : 6).[0m ×2 + 0.47sWARNcontroller_managerOverrun might occur, Total time : 2193.527 us (Expected < 1666.667 us) --> Read time : 339.827 us, Update time : 1415.890 us, Write time : 437.810 us + 0.47sWARNros2_control_nodeOverrun might occur, Total time : 2193.527 us (Expected < 1666.667 us) --> Read time : 339.827 us, Update time : 1415.890 us, Write time : 437.810 us[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274549 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274549 ms (missed cycles : 4).[0m ×2 + 1.69sWARNcontroller_managerOverrun might occur, Total time : 1702.446 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 564.152 us, Write time : 905.279 us + 1.69sWARNros2_control_nodeOverrun might occur, Total time : 1702.446 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 564.152 us, Write time : 905.279 us[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739582 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739582 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070624 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.070624 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun might occur, Total time : 4375.274 us (Expected < 1666.667 us) --> Read time : 272.105 us, Update time : 3424.444 us, Write time : 678.725 us + 3.07sWARNros2_control_nodeOverrun might occur, Total time : 4375.274 us (Expected < 1666.667 us) --> Read time : 272.105 us, Update time : 3424.444 us, Write time : 678.725 us[0m ×2 + 3.12sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Grasp Pose Using Yaml` was cancelled: Objective execution was halted at time: 1780433471.07505798 seconds ×3 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.13sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.68sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` starting at time: 1780433471.63292265 seconds. ×3 + 3.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.82sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 3.82sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.82sINFOros2_control_node[2026-06-02 20:51:11.777] [info] Received new action goal ×2 + 3.82sINFOros2_control_node[2026-06-02 20:51:11.777] [info] Accepted new action goal ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963603 ms (missed cycles : 3). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963603 ms (missed cycles : 3).[0m ×2 + 4.17sWARNcontroller_managerOverrun might occur, Total time : 8728.357 us (Expected < 1666.667 us) --> Read time : 280.016 us, Update time : 7830.738 us, Write time : 617.603 us + 4.17sWARNros2_control_nodeOverrun might occur, Total time : 8728.357 us (Expected < 1666.667 us) --> Read time : 280.016 us, Update time : 7830.738 us, Write time : 617.603 us[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816814 ms (missed cycles : 2). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816814 ms (missed cycles : 2).[0m ×2 + 5.29sWARNcontroller_managerOverrun might occur, Total time : 2126.934 us (Expected < 1666.667 us) --> Read time : 206.694 us, Update time : 1510.482 us, Write time : 409.758 us + 5.29sWARNros2_control_nodeOverrun might occur, Total time : 2126.934 us (Expected < 1666.667 us) --> Read time : 206.694 us, Update time : 1510.482 us, Write time : 409.758 us[0m ×2 + 6.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685226 ms (missed cycles : 2). + 6.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685226 ms (missed cycles : 2).[0m ×2 + 6.30sWARNcontroller_managerOverrun might occur, Total time : 2856.951 us (Expected < 1666.667 us) --> Read time : 338.217 us, Update time : 1900.821 us, Write time : 617.913 us + 6.30sWARNros2_control_nodeOverrun might occur, Total time : 2856.951 us (Expected < 1666.667 us) --> Read time : 338.217 us, Update time : 1900.821 us, Write time : 617.913 us[0m ×2 + 6.31sINFOros2_control_node[2026-06-02 20:51:14.258] [info] Received new action goal ×2 + 6.31sINFOros2_control_node[2026-06-02 20:51:14.259] [info] Accepted new action goal ×2 | ||||
| − skipped | LoadAndVisualizePointCloud | load_and_visualize_point_cloud.xml | 0.0s | 42 warnings · 62 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505626 ms (missed cycles : 3).[0m ×2 + 0.46sWARNcontroller_managerOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us + 0.46sWARNros2_control_nodeOverrun might occur, Total time : 5500.648 us (Expected < 1666.667 us) --> Read time : 301.887 us, Update time : 4637.479 us, Write time : 561.282 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802326 ms (missed cycles : 2).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 10821.491 us (Expected < 1666.667 us) --> Read time : 190.754 us, Update time : 10090.846 us, Write time : 539.891 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.710401 ms (missed cycles : 2).[0m ×2 + 2.48sWARNcontroller_managerOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us + 2.48sWARNros2_control_nodeOverrun might occur, Total time : 3917.934 us (Expected < 1666.667 us) --> Read time : 290.046 us, Update time : 3105.107 us, Write time : 522.781 us[0m ×2 + 2.64sINFOobjective_server_nodeObjective `Load and Execute Joint Trajectory` succeeded at time: 1780433482.82992744 seconds ×3 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.74sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2). + 3.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2).[0m ×2 + 3.28sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433483.46986151 seconds. ×3 + 3.32sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.32sINFOcontroller_managerSuccessfully switched controllers! ×2 + 3.32sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.32sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 3.33sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 3.33sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 3.34sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.34sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 3.35sWARNcontroller_managerOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us + 3.35sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 3.35sWARNros2_control_nodeOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433483.55000639 seconds ×3 + 3.80sWARNcontroller_managerOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us + 3.80sWARNros2_control_nodeOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433484.12150717 seconds. ×3 + 3.97sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.05sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 4.05sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4).[0m ×2 + 4.07sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Received new action goal ×2 + 4.07sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Accepted new action goal ×2 + 4.88sWARNcontroller_managerOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us + 4.88sWARNros2_control_nodeOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us[0m ×2 + 5.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5). + 5.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5).[0m ×2 + 6.07sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433486.26165390 seconds ×3 + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8).[0m ×2 + 6.25sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us + 6.25sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us[0m ×2 | ||||
| − skipped | ML Auto Grasp Object from Clicked Point | ml_auto_grasp_object_from_clicked_point.xml | 0.0s | 39 warnings · 73 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433483.46986151 seconds. ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.62sWARNcontroller_managerOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433483.55000639 seconds ×3 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433484.12150717 seconds. ×3 + 1.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 1.32sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4).[0m ×2 + 1.33sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Received new action goal ×2 + 1.33sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433486.26165390 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433486.82239795 seconds. ×3 + 4.04sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3).[0m ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4).[0m ×2 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us + 5.98sWARNros2_control_nodeOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Find Bottles on Table from Image Exemplar | ml_find_bottles_on_table_from_image_exemplar.xml | 0.0s | 39 warnings · 73 info |
+ 0.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.250985 ms (missed cycles : 2).[0m ×2 + 0.55sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` starting at time: 1780433483.46986151 seconds. ×3 + 0.59sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.59sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 0.59sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.59sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_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: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.61sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 0.62sWARNcontroller_managerOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us + 0.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 0.62sWARNros2_control_nodeOverrun might occur, Total time : 3947.434 us (Expected < 1666.667 us) --> Read time : 280.006 us, Update time : 3041.955 us (Switch time : 2990.994 us (Switch chained mode time : 0.540 us, perform mode change time : 3.600 us, Activation time : 2974.743 us, Deactivation time : 0.220 us)), Write time : 625.473 us[0m ×2 + 0.63sINFOobjective_server_nodeObjective `Load MuJoCo Robot State` succeeded at time: 1780433483.55000639 seconds ×3 + 1.07sWARNcontroller_managerOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us + 1.07sWARNros2_control_nodeOverrun might occur, Total time : 1878.920 us (Expected < 1666.667 us) --> Read time : 279.166 us, Update time : 527.341 us, Write time : 1072.413 us[0m ×2 + 1.20sINFOobjective_server_nodeObjective `Look at Table` starting at time: 1780433484.12150717 seconds. ×3 + 1.24sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×4 + 1.32sINFOobjective_server_nodePath shortcutter: [X______X] ×4 + 1.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4). + 1.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.477195 ms (missed cycles : 4).[0m ×2 + 1.33sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Received new action goal ×2 + 1.33sINFOros2_control_node[2026-06-02 20:51:24.256] [info] Accepted new action goal ×2 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us + 2.15sWARNros2_control_nodeOverrun might occur, Total time : 1766.858 us (Expected < 1666.667 us) --> Read time : 210.695 us, Update time : 490.240 us, Write time : 1065.923 us[0m ×2 + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.886628 ms (missed cycles : 5).[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Look at Table` succeeded at time: 1780433486.26165390 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.326986 ms (missed cycles : 8).[0m ×2 + 3.52sWARNcontroller_managerOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us + 3.52sWARNros2_control_nodeOverrun might occur, Total time : 1839.269 us (Expected < 1666.667 us) --> Read time : 135.373 us, Update time : 1286.827 us, Write time : 417.069 us[0m ×2 + 3.90sINFOobjective_server_nodeObjective `ML Find Objects on Table` starting at time: 1780433486.82239795 seconds. ×3 + 4.04sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Received new action goal ×2 + 4.04sINFOros2_control_node[2026-06-02 20:51:26.966] [info] Accepted new action goal ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.615846 ms (missed cycles : 3).[0m ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2101.455 us (Expected < 1666.667 us) --> Read time : 116.792 us, Update time : 26.451 us, Write time : 1958.212 us[0m ×2 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685618 ms (missed cycles : 4).[0m ×2 + 5.98sWARNcontroller_managerOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us + 5.98sWARNros2_control_nodeOverrun might occur, Total time : 2391.971 us (Expected < 1666.667 us) --> Read time : 211.234 us, Update time : 1087.653 us, Write time : 1093.084 us[0m ×2 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.116419 ms (missed cycles : 7).[0m ×2 | ||||
| − skipped | ML Segment Image Loop | ml_segment_image_loop.xml | 0.0s | 39 warnings · 60 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 3.22sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433498.03302121 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud | ml_segment_point_cloud.xml | 0.0s | 39 warnings · 60 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 3.22sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433498.03302121 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Segment Point Cloud from Clicked Point | ml_segment_point_cloud_from_clicked_point.xml | 0.0s | 39 warnings · 60 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 3.22sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433498.03302121 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Along Square | move_along_square.xml | 0.0s | 39 warnings · 60 info |
+ 0.00sINFOobjective_server_nodeObjective `ML Find Objects on Table` succeeded at time: 1780433494.27198935 seconds ×3 + 0.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.01sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 0.10sWARNcontroller_managerOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us + 0.10sWARNros2_control_nodeOverrun might occur, Total time : 1980.472 us (Expected < 1666.667 us) --> Read time : 1505.592 us, Update time : 70.282 us, Write time : 404.598 us[0m ×2 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2). + 0.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.184786 ms (missed cycles : 2).[0m ×2 + 0.60sINFOobjective_server_nodeObjective `ML Segment Bottles from File` starting at time: 1780433494.87606502 seconds. ×3 + 1.13sWARNcontroller_managerOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us + 1.13sWARNros2_control_nodeOverrun might occur, Total time : 1823.499 us (Expected < 1666.667 us) --> Read time : 306.926 us, Update time : 74.972 us, Write time : 1441.601 us[0m ×2 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.431968066 [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 + 1.16sINFOobjective_server_node[0;93m2026-06-02 20:51:35.432011397 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.091441 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933659407 [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 + 1.66sINFOobjective_server_node[0;93m2026-06-02 20:51:35.933701098 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.057045413 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059166509 [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 + 1.79sINFOobjective_server_node[0;93m2026-06-02 20:51:36.059187220 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.15sINFOobjective_server_node[0;93m2026-06-02 20:51:36.423896901 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439239421 [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 + 2.17sINFOobjective_server_node[0;93m2026-06-02 20:51:36.439278451 [W:onnxruntime:, session_state.cc:1318 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.[m ×2 + 2.21sWARNcontroller_managerOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us + 2.22sWARNros2_control_nodeOverrun might occur, Total time : 1720.747 us (Expected < 1666.667 us) --> Read time : 265.286 us, Update time : 62.971 us, Write time : 1392.490 us[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.959407 ms (missed cycles : 8).[0m ×2 + 3.02sINFOobjective_server_nodeObjective `ML Segment Bottles from File` succeeded at time: 1780433497.29192328 seconds ×3 + 3.22sWARNcontroller_managerOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us + 3.22sWARNros2_control_nodeOverrun might occur, Total time : 1819.449 us (Expected < 1666.667 us) --> Read time : 630.154 us, Update time : 179.953 us, Write time : 1009.342 us[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.223341 ms (missed cycles : 2).[0m ×2 + 3.76sINFOobjective_server_nodeObjective `Move Flasks to Burners` starting at time: 1780433498.03302121 seconds. ×3 + 3.77sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 3.77sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.85sINFOobjective_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 + 3.86sINFOobjective_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 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×2 + 3.97sINFOobjective_server_nodePath shortcutter: [X____________X] ×2 + 3.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Received new action goal ×2 + 4.00sINFOros2_control_node[2026-06-02 20:51:38.271] [info] Accepted new action goal ×2 + 4.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4). + 4.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.551799 ms (missed cycles : 4).[0m ×2 + 4.47sWARNcontroller_managerOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us + 4.47sWARNros2_control_nodeOverrun might occur, Total time : 2581.416 us (Expected < 1666.667 us) --> Read time : 283.127 us, Update time : 1160.204 us, Write time : 1138.085 us[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.942991 ms (missed cycles : 7).[0m ×2 + 5.73sWARNcontroller_managerOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us + 5.73sWARNros2_control_nodeOverrun might occur, Total time : 2253.808 us (Expected < 1666.667 us) --> Read time : 294.516 us, Update time : 1498.332 us, Write time : 460.960 us[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.398709 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | MPC Pose Tracking | mpc_pose_tracking.xml | 0.0s | 42 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889539 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889539 ms (missed cycles : 5).[0m ×2 + 0.36sWARNcontroller_managerOverrun might occur, Total time : 5913.958 us (Expected < 1666.667 us) --> Read time : 197.655 us, Update time : 5234.692 us, Write time : 481.611 us + 0.37sWARNros2_control_nodeOverrun might occur, Total time : 5913.958 us (Expected < 1666.667 us) --> Read time : 197.655 us, Update time : 5234.692 us, Write time : 481.611 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113745 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.113745 ms (missed cycles : 2).[0m ×2 + 1.53sWARNcontroller_managerOverrun might occur, Total time : 10892.322 us (Expected < 1666.667 us) --> Read time : 225.194 us, Update time : 10101.156 us, Write time : 565.972 us + 1.53sWARNros2_control_nodeOverrun might occur, Total time : 10892.322 us (Expected < 1666.667 us) --> Read time : 225.194 us, Update time : 10101.156 us, Write time : 565.972 us[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847394 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847394 ms (missed cycles : 2).[0m ×2 + 2.57sWARNcontroller_managerOverrun might occur, Total time : 2236.968 us (Expected < 1666.667 us) --> Read time : 206.444 us, Update time : 1088.714 us, Write time : 941.810 us + 2.58sWARNros2_control_nodeOverrun might occur, Total time : 2236.968 us (Expected < 1666.667 us) --> Read time : 206.444 us, Update time : 1088.714 us, Write time : 941.810 us[0m ×2 + 2.78sINFOobjective_server_nodeObjective `Push Button` succeeded at time: 1780433551.18271756 seconds ×3 + 2.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOros2_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 4.504307 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.504307 ms (missed cycles : 3).[0m ×2 + 3.47sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433551.87649155 seconds. ×3 + 3.54sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.59sWARNcontroller_managerOverrun might occur, Total time : 2077.975 us (Expected < 1666.667 us) --> Read time : 225.425 us, Update time : 844.528 us, Write time : 1008.022 us + 3.60sWARNros2_control_nodeOverrun might occur, Total time : 2077.975 us (Expected < 1666.667 us) --> Read time : 225.425 us, Update time : 844.528 us, Write time : 1008.022 us[0m ×2 + 3.62sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.63sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 3.63sINFOros2_control_node[2026-06-02 20:52:32.034] [info] Received new action goal ×2 + 3.63sINFOros2_control_node[2026-06-02 20:52:32.034] [info] Accepted new action goal ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758791 ms (missed cycles : 3). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758791 ms (missed cycles : 3).[0m ×2 + 4.90sINFOobjective_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 + 4.91sINFOobjective_server_node[1;33mFailed to find match for field 'rgb'. ×2 + 4.92sWARNcontroller_managerOverrun might occur, Total time : 2522.334 us (Expected < 1666.667 us) --> Read time : 292.546 us, Update time : 1615.465 us, Write time : 614.323 us + 4.92sWARNros2_control_nodeOverrun might occur, Total time : 2522.334 us (Expected < 1666.667 us) --> Read time : 292.546 us, Update time : 1615.465 us, Write time : 614.323 us[0m ×2 + 4.96sINFOobjective_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 + 4.96sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 4.96sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 4.96sINFOcontroller_managerSuccessfully switched controllers! + 4.96sWARNcontroller_managerOverrun might occur, Total time : 1683.576 us (Expected < 1666.667 us) --> Read time : 459.760 us, Update time : 628.393 us (Switch time : 537.841 us (Switch chained mode time : 0.790 us, perform mode change time : 8.070 us, Activation time : 447.170 us, Deactivation time : 67.771 us)), Write time : 595.423 us + 4.96sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×2 + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 1683.576 us (Expected < 1666.667 us) --> Read time : 459.760 us, Update time : 628.393 us (Switch time : 537.841 us (Switch chained mode time : 0.790 us, perform mode change time : 8.070 us, Activation time : 447.170 us, Deactivation time : 67.771 us)), Write time : 595.423 us[0m ×2 + 5.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612480 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612480 ms (missed cycles : 3).[0m ×2 + 6.02sWARNcontroller_managerOverrun might occur, Total time : 2070.115 us (Expected < 1666.667 us) --> Read time : 869.739 us, Update time : 277.526 us, Write time : 922.850 us + 6.02sWARNros2_control_nodeOverrun might occur, Total time : 2070.115 us (Expected < 1666.667 us) --> Read time : 869.739 us, Update time : 277.526 us, Write time : 922.850 us[0m ×2 + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001271 ms (missed cycles : 2). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.001271 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | MPC Pose Tracking With Point Cloud Avoidance | mpc_pose_tracking_with_point_cloud_avoidance.xml | 0.0s | 330 errors · 39 warnings · 422 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×109 + 0.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×218 + 0.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007018823352915[0m ×2 + 0.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625 + 0.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001988855993625[0m ×2 + 0.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507 + 0.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004762774069507[0m ×2 + 0.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429 + 0.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.008612932526429[0m ×2 + 0.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559 + 0.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330703652559[0m ×2 + 0.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379 + 0.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.001330872341379[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048 + 0.07sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.043635318246048[0m ×2 + 0.07sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811 + 0.08sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.079334419557811[0m ×2 + 0.09sWARNcontroller_managerOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us + 0.09sWARNros2_control_nodeOverrun might occur, Total time : 2196.687 us (Expected < 1666.667 us) --> Read time : 233.145 us, Update time : 1418.160 us, Write time : 545.382 us[0m ×2 + 0.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284 + 0.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.093678739618284[0m ×2 + 0.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431 + 0.12sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024027740479431[0m ×2 + 0.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478 + 0.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.058931110098478[0m ×2 + 0.14sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378 + 0.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033148544235378[0m ×2 + 0.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553 + 0.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048318651359553[0m ×2 + 0.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048 + 0.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032713250518048[0m ×2 + 0.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877 + 0.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.199058713658877[0m ×2 + 0.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785 + 0.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.289507308748785[0m ×2 + 0.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381 + 0.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.224245875697381[0m ×2 + 0.21sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257 + 0.21sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.190077642317257[0m ×2 + 0.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691 + 0.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.122136015075691[0m ×2 + 0.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693 + 0.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.139257086193693[0m ×2 + 0.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812 + 0.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.213453638564812[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949 + 0.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.305443678940949[0m ×2 + 0.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330 + 0.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.130450976110330[0m ×2 + 0.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.011766859323871[0m ×2 + 0.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361 + 0.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032286571861361[0m ×2 + 0.33sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695 + 0.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030772676700695[0m ×2 + 0.36sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660 + 0.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022577269869660[0m ×2 + 0.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958 + 0.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009939566323958[0m ×2 + 0.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498 + 0.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.031237096747498[0m ×2 + 0.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115 + 0.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.019033284710115[0m ×2 + 0.40sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309 + 0.40sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.006927086296309[0m ×2 + 0.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097 + 0.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006287021449097[0m ×2 + 0.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890 + 0.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024279676429890[0m ×2 + 0.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585 + 0.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020539322743585[0m ×2 + 0.45sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637 + 0.45sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.025656370740637[0m ×2 + 0.46sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706 + 0.47sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009892205521706[0m ×2 + 0.48sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641 + 0.48sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.005603924198641[0m ×2 + 0.49sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886 + 0.49sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.027806164523886[0m ×2 + 0.50sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827 + 0.50sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005103196607827[0m ×2 + 0.51sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846 + 0.51sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005102947733846[0m ×2 + 0.53sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669 + 0.53sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027303764718669[0m ×2 + 0.55sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907 + 0.55sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003563272833907[0m ×2 + 0.56sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478 + 0.56sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005927475163478[0m ×2 + 0.57sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034 + 0.57sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.027974194445034[0m ×2 + 0.58sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695 + 0.58sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.007378317268695[0m ×2 + 0.59sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145 + 0.59sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004790912244145[0m ×2 + 0.60sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815 + 0.60sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.028686937236815[0m ×2 + 0.61sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056 + 0.61sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.022153727884056[0m ×2 + 0.62sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411 + 0.62sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.005496887249411[0m ×2 + 0.64sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728 + 0.64sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030402738392728[0m ×2 + 0.65sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691 + 0.65sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.006885304353691[0m ×2 + 0.66sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144 + 0.66sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025963573417144[0m ×2 + 0.67sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342 + 0.67sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.024444589842342[0m ×2 + 0.68sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583 + 0.68sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004550908727583[0m ×2 + 0.71sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873 + 0.72sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033185150189873[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856 + 0.74sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.025303225998856[0m ×2 + 0.74sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663 + 0.75sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.004297665790663[0m ×2 + 0.76sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863 + 0.76sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.035680623134863[0m ×2 + 0.77sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153 + 0.77sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.014322633116153[0m ×2 + 0.78sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212 + 0.78sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.010350542388212[0m ×2 + 0.79sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800 + 0.79sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.024087837116800[0m ×2 + 0.80sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073 + 0.80sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.003189780153073[0m ×2 + 0.81sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073 + 0.81sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039084936406073[0m ×2 + 0.82sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474 + 0.82sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017427438181474[0m ×2 + 0.83sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877 + 0.83sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.012744396297877[0m ×2 + 0.84sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231 + 0.84sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022543524838231[0m ×2 + 0.85sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451 + 0.85sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.031399968647451[0m ×2 + 0.86sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367 + 0.86sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001407326094367[0m ×2 + 0.87sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159 + 0.87sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042220088175159[0m ×2 + 0.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3). + 0.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222729 ms (missed cycles : 3).[0m ×2 + 0.91sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031 + 0.91sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020182882862031[0m ×2 + 0.92sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191 + 0.92sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033669053758191[0m ×2 + 0.94sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539 + 0.94sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.044556483413539[0m ×2 + 0.97sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526 + 0.98sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013641779115526[0m ×2 + 0.99sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024 + 0.99sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.003326322045024[0m ×2 + 1.00sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894 + 1.00sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015193954035894[0m ×2 + 1.01sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733 + 1.01sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020001715556733[0m ×2 + 1.02sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835 + 1.02sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.017382108872835[0m ×2 + 1.03sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769 + 1.03sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.039057787343769[0m ×2 + 1.04sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884 + 1.04sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004224312319884[0m ×2 + 1.05sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974 + 1.05sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047193992043974[0m ×2 + 1.06sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983 + 1.06sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.016368857037983[0m ×2 + 1.08sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489 + 1.09sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.021972946183489[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 6651.502 us (Expected < 1666.667 us) --> Read time : 201.474 us, Update time : 83.542 us, Write time : 6366.486 us[0m ×2 + 1.11sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675 + 1.11sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.040098404840675[0m ×2 + 1.12sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688 + 1.13sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.017229503524688[0m ×2 + 1.13sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530 + 1.14sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.051940147082530[0m ×2 + 1.15sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237 + 1.15sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.030238101394237[0m ×2 + 1.16sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909 + 1.16sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.015802611486909[0m ×2 + 1.17sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606 + 1.17sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.022876738299606[0m ×2 + 1.18sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810 + 1.18sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.004547366198810[0m ×2 + 1.19sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475 + 1.19sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.047700440877475[0m ×2 + 1.20sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592 + 1.20sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.018920541545592[0m ×2 + 1.22sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918 + 1.22sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023644909655918[0m ×2 + 1.23sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640 + 1.23sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.041880060405640[0m ×2 + 1.24sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178 + 1.24sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.009513082167178[0m ×2 + 1.25sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302 + 1.25sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.048786537844302[0m ×2 + 1.26sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791 + 1.26sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.013590582308791[0m ×2 + 1.27sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211 + 1.27sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.042984381652211[0m ×2 + 1.29sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374 + 1.29sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.023923904207374[0m ×2 + 1.30sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474 + 1.30sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.021968507440474[0m ×2 + 1.31sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268 + 1.31sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033880201686268[0m ×2 + 1.32sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000 + 1.33sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001430099205000[0m ×2 + 1.34sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217 + 1.34sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032938045148217[0m ×2 + 1.35sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952 + 1.36sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036518292081952[0m ×2 + 1.37sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511 + 1.37sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.020302005198511[0m ×2 + 1.38sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838 + 1.38sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.023126558504838[0m ×2 + 1.39sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371 + 1.39sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.032740768888371[0m ×2 + 1.41sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233 + 1.41sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: -0.001653587019233[0m ×2 + 1.42sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667 + 1.42sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.033876766766667[0m ×2 + 1.44sERRORjoint_trajectory_controllerVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670 + 1.44sINFOobjective_server_nodeObjective `MPC Pose Tracking Dynamic Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433589.25879073 seconds ×3 + 1.44sERRORros2_control_nodeVelocity of last trajectory point of joint linear_rail_joint is not zero: 0.036220502213670[0m ×2 + 1.45sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 1.45sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×4 + 1.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4). + 1.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309353 ms (missed cycles : 4).[0m ×2 + 2.03sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` starting at time: 1780433589.84896111 seconds. ×3 + 2.11sINFOobjective_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 + 2.11sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] ×2 + 2.11sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] ×2 + 2.11sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.11sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×4 + 2.11sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×4 + 2.11sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×4 + 2.11sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 2.20sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 2.20sINFOobjective_server_nodePath shortcutter: [X_X] ×2 + 2.22sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Received new action goal ×2 + 2.22sINFOros2_control_node[2026-06-02 20:53:10.032] [info] Accepted new action goal ×2 + 2.26sWARNcontroller_managerOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us + 2.26sWARNros2_control_nodeOverrun might occur, Total time : 3125.896 us (Expected < 1666.667 us) --> Read time : 2625.136 us, Update time : 94.882 us, Write time : 405.878 us[0m ×2 + 2.29sINFOobjective_server_node[0;m[1;33mFailed to find match for field 'rgb'. ×2 + 2.34sINFOobjective_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 + 2.37sINFOobjective_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 + 2.38sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 2.38sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller ] + 2.39sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 2.39sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller ] + 2.39sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller ] + 2.39sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 2.39sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller ][0m ×2 + 3.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4). + 3.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.825951 ms (missed cycles : 4).[0m ×2 + 3.48sERRORobjective_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 + 3.48sINFOobjective_server_nodeObjective `MPC Pose Tracking Static Point Cloud Avoidance with Sphere Down Sample` succeeded at time: 1780433591.29514551 seconds ×3 + 3.50sWARNcontroller_managerOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us + 3.51sWARNros2_control_nodeOverrun might occur, Total time : 3136.547 us (Expected < 1666.667 us) --> Read time : 257.095 us, Update time : 2442.203 us, Write time : 437.249 us[0m ×2 + 4.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6). + 4.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.047904 ms (missed cycles : 6).[0m ×2 + 4.09sINFOobjective_server_nodeObjective `MPC Pose Tracking With Static Sphere Point Cloud Avoidance` starting at time: 1780433591.90760827 seconds. ×3 + 4.25sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 4.25sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.27sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Received new action goal ×2 + 4.27sINFOros2_control_node[2026-06-02 20:53:12.084] [info] Accepted new action goal ×2 + 4.57sWARNcontroller_managerOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us + 4.58sWARNros2_control_nodeOverrun might occur, Total time : 3664.389 us (Expected < 1666.667 us) --> Read time : 221.175 us, Update time : 111.232 us, Write time : 3331.982 us[0m ×2 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.868838 ms (missed cycles : 6). + 5.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.868838 ms (missed cycles : 6).[0m ×2 + 5.82sWARNcontroller_managerOverrun might occur, Total time : 3154.797 us (Expected < 1666.667 us) --> Read time : 236.315 us, Update time : 379.858 us, Write time : 2538.624 us + 5.82sWARNros2_control_nodeOverrun might occur, Total time : 3154.797 us (Expected < 1666.667 us) --> Read time : 236.315 us, Update time : 379.858 us, Write time : 2538.624 us[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873296 ms (missed cycles : 5). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.873296 ms (missed cycles : 5).[0m ×2 + 6.89sWARNcontroller_managerOverrun might occur, Total time : 1696.436 us (Expected < 1666.667 us) --> Read time : 248.955 us, Update time : 66.992 us, Write time : 1380.489 us + 6.90sWARNros2_control_nodeOverrun might occur, Total time : 1696.436 us (Expected < 1666.667 us) --> Read time : 248.955 us, Update time : 66.992 us, Write time : 1380.489 us[0m ×2 | ||||
| − skipped | Pick All Bottles with AprilTags | pick_all_bottles_with_apriltags.xml | 0.0s | 39 warnings · 27 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2).[0m ×2 + 2.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433653.53123808 seconds ×3 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3).[0m ×2 + 3.67sWARNcontroller_managerOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433654.27858877 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick All Pill Bottles | pick_all_pill_bottles.xml | 0.0s | 39 warnings · 27 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us + 0.01sWARNros2_control_nodeOverrun might occur, Total time : 1948.862 us (Expected < 1666.667 us) --> Read time : 288.767 us, Update time : 1223.376 us, Write time : 436.719 us[0m ×2 + 0.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6). + 0.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.532134 ms (missed cycles : 6).[0m ×2 + 1.37sWARNcontroller_managerOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us + 1.38sWARNros2_control_nodeOverrun might occur, Total time : 2318.780 us (Expected < 1666.667 us) --> Read time : 303.047 us, Update time : 1590.474 us, Write time : 425.259 us[0m ×2 + 1.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3). + 1.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522606 ms (missed cycles : 3).[0m ×2 + 2.53sWARNcontroller_managerOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us + 2.53sWARNros2_control_nodeOverrun might occur, Total time : 5452.336 us (Expected < 1666.667 us) --> Read time : 349.907 us, Update time : 4448.785 us, Write time : 653.644 us[0m ×2 + 2.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2). + 2.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818103 ms (missed cycles : 2).[0m ×2 + 2.63sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 2.63sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 3.49sINFOobjective_server_nodeObjective `Pick 1 Pill Bottle with SAM3` succeeded at time: 1780433653.53123808 seconds ×3 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.59sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3). + 3.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149114 ms (missed cycles : 3).[0m ×2 + 3.67sWARNcontroller_managerOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us + 3.67sWARNros2_control_nodeOverrun might occur, Total time : 2722.078 us (Expected < 1666.667 us) --> Read time : 201.804 us, Update time : 2058.314 us, Write time : 461.960 us[0m ×2 + 4.23sINFOobjective_server_nodeObjective `Pick April Tag Labeled Object With Approval` starting at time: 1780433654.27858877 seconds. ×3 + 4.38sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 4.48sINFOobjective_server_nodePath shortcutter: [X______X] ×2 + 4.51sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Received new action goal ×2 + 4.51sINFOros2_control_node[2026-06-02 20:54:14.552] [info] Accepted new action goal ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859948 ms (missed cycles : 2).[0m ×2 + 4.81sWARNcontroller_managerOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us + 4.81sWARNros2_control_nodeOverrun might occur, Total time : 2419.751 us (Expected < 1666.667 us) --> Read time : 296.216 us, Update time : 1148.644 us, Write time : 974.891 us[0m ×2 + 5.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2). + 5.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831129 ms (missed cycles : 2).[0m ×2 + 5.89sWARNcontroller_managerOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us + 5.89sWARNros2_control_nodeOverrun might occur, Total time : 1716.327 us (Expected < 1666.667 us) --> Read time : 198.544 us, Update time : 1118.314 us, Write time : 399.469 us[0m ×2 + 6.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538825 ms (missed cycles : 4).[0m ×2 | ||||
| − skipped | Pick from Pose | pick_from_pose.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose Vector | pick_from_pose_vector.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick from Pose With Approval | pick_from_pose_with_approval.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick object | pick_object.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Pick up Object | pick_up_cube.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place at Pose | place_at_pose.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Place Object | place_object.xml | 0.0s | 3 errors · 36 warnings · 34 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 1831.909 us (Expected < 1666.667 us) --> Read time : 781.107 us, Update time : 190.864 us, Write time : 859.938 us[0m ×2 + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.656143 ms (missed cycles : 6).[0m ×2 + 1.20sWARNcontroller_managerOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us + 1.20sWARNros2_control_nodeOverrun might occur, Total time : 2796.999 us (Expected < 1666.667 us) --> Read time : 172.114 us, Update time : 2103.564 us, Write time : 521.321 us[0m ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Received new action goal ×2 + 1.48sINFOros2_control_node[2026-06-02 20:54:22.950] [info] Accepted new action goal ×2 + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787671 ms (missed cycles : 2).[0m ×2 + 2.39sWARNcontroller_managerOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us + 2.39sWARNros2_control_nodeOverrun might occur, Total time : 4048.155 us (Expected < 1666.667 us) --> Read time : 147.663 us, Update time : 3221.488 us, Write time : 679.004 us[0m ×2 + 2.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.574111 ms (missed cycles : 2).[0m ×2 + 2.89sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 2.89sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 3.11sINFOrobotiq_gripper_controllerGot request to cancel goal + 3.11sINFOrobotiq_gripper_controllerCanceling active action goal because cancel callback received. + 3.12sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.12sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.14sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Pick April Tag Labeled Object With Approval` was cancelled: Objective execution was halted at time: 1780433664.61450505 seconds ×3 + 3.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.19sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.48sWARNcontroller_managerOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us + 3.48sWARNros2_control_nodeOverrun might occur, Total time : 2167.276 us (Expected < 1666.667 us) --> Read time : 1558.953 us, Update time : 84.942 us, Write time : 523.381 us[0m ×2 + 3.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.870025 ms (missed cycles : 2).[0m ×2 + 3.81sINFOobjective_server_nodeObjective `Plan and Save Trajectory` starting at time: 1780433665.27796292 seconds. ×3 + 3.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 3.96sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Received new action goal ×2 + 3.97sINFOros2_control_node[2026-06-02 20:54:25.442] [info] Accepted new action goal ×2 + 4.52sWARNcontroller_managerOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us + 4.52sWARNros2_control_nodeOverrun might occur, Total time : 2561.294 us (Expected < 1666.667 us) --> Read time : 158.913 us, Update time : 1923.991 us, Write time : 478.390 us[0m ×2 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.949664 ms (missed cycles : 4).[0m ×2 + 5.59sWARNcontroller_managerOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us + 5.59sWARNros2_control_nodeOverrun might occur, Total time : 4193.519 us (Expected < 1666.667 us) --> Read time : 208.905 us, Update time : 3450.453 us, Write time : 534.161 us[0m ×2 + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727639 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 | ||||
| − skipped | Plan Move To Pose | plan_move_to_pose.xml | 0.0s | 3 errors · 39 warnings · 18 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367421 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.367421 ms (missed cycles : 3).[0m ×2 + 0.60sWARNcontroller_managerOverrun might occur, Total time : 6108.849 us (Expected < 1666.667 us) --> Read time : 268.665 us, Update time : 5108.379 us, Write time : 731.805 us + 0.60sWARNros2_control_nodeOverrun might occur, Total time : 6108.849 us (Expected < 1666.667 us) --> Read time : 268.665 us, Update time : 5108.379 us, Write time : 731.805 us[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929950 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929950 ms (missed cycles : 2).[0m ×2 + 1.85sWARNcontroller_managerOverrun might occur, Total time : 1805.729 us (Expected < 1666.667 us) --> Read time : 253.576 us, Update time : 1098.673 us, Write time : 453.480 us + 1.86sWARNros2_control_nodeOverrun might occur, Total time : 1805.729 us (Expected < 1666.667 us) --> Read time : 253.576 us, Update time : 1098.673 us, Write time : 453.480 us[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163462 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.163462 ms (missed cycles : 3).[0m ×2 + 3.02sWARNcontroller_managerOverrun might occur, Total time : 2811.740 us (Expected < 1666.667 us) --> Read time : 2390.741 us, Update time : 44.751 us, Write time : 376.248 us + 3.02sWARNros2_control_nodeOverrun might occur, Total time : 2811.740 us (Expected < 1666.667 us) --> Read time : 2390.741 us, Update time : 44.751 us, Write time : 376.248 us[0m ×2 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107400 ms (missed cycles : 2). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.107400 ms (missed cycles : 2).[0m ×2 + 3.39sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan and Save Trajectory` was cancelled: Objective execution was halted at time: 1780433675.68832493 seconds ×3 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.40sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Playback Square Trajectory` starting at time: 1780433676.25026512 seconds. ×3 + 4.07sWARNcontroller_managerOverrun might occur, Total time : 8336.587 us (Expected < 1666.667 us) --> Read time : 272.426 us, Update time : 7500.959 us, Write time : 563.202 us + 4.07sWARNros2_control_nodeOverrun might occur, Total time : 8336.587 us (Expected < 1666.667 us) --> Read time : 272.426 us, Update time : 7500.959 us, Write time : 563.202 us[0m ×2 + 4.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426081 ms (missed cycles : 4). + 4.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.426081 ms (missed cycles : 4).[0m ×2 + 4.11sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.23sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 4.24sINFOobjective_server_nodePath shortcutter: [X________________X] ×2 + 4.26sINFOros2_control_node[2026-06-02 20:54:36.559] [info] Received new action goal ×2 + 4.26sINFOros2_control_node[2026-06-02 20:54:36.559] [info] Accepted new action goal ×2 + 5.08sWARNcontroller_managerOverrun might occur, Total time : 5332.234 us (Expected < 1666.667 us) --> Read time : 4735.481 us, Update time : 97.682 us, Write time : 499.071 us + 5.08sWARNros2_control_nodeOverrun might occur, Total time : 5332.234 us (Expected < 1666.667 us) --> Read time : 4735.481 us, Update time : 97.682 us, Write time : 499.071 us[0m ×2 + 5.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567415 ms (missed cycles : 3). + 5.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567415 ms (missed cycles : 3).[0m ×2 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192272 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.192272 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun might occur, Total time : 4270.891 us (Expected < 1666.667 us) --> Read time : 206.734 us, Update time : 3497.375 us, Write time : 566.782 us + 6.58sWARNros2_control_nodeOverrun might occur, Total time : 4270.891 us (Expected < 1666.667 us) --> Read time : 206.734 us, Update time : 3497.375 us, Write time : 566.782 us[0m ×2 | ||||
| − skipped | Push Button With a Trajectory | push_button_with_a_trajectory.xml | 0.0s | 33 warnings · 24 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386608 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.386608 ms (missed cycles : 4).[0m ×2 + 0.54sWARNcontroller_managerOverrun might occur, Total time : 1834.729 us (Expected < 1666.667 us) --> Read time : 792.787 us, Update time : 129.083 us, Write time : 912.859 us + 0.54sWARNros2_control_nodeOverrun might occur, Total time : 1834.729 us (Expected < 1666.667 us) --> Read time : 792.787 us, Update time : 129.083 us, Write time : 912.859 us[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205252 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.205252 ms (missed cycles : 3).[0m ×2 + 1.62sWARNcontroller_managerOverrun might occur, Total time : 3106.646 us (Expected < 1666.667 us) --> Read time : 256.775 us, Update time : 2248.938 us, Write time : 600.933 us + 1.62sWARNros2_control_nodeOverrun might occur, Total time : 3106.646 us (Expected < 1666.667 us) --> Read time : 256.775 us, Update time : 2248.938 us, Write time : 600.933 us[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.895110 ms (missed cycles : 8). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.895110 ms (missed cycles : 8).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Playback Square Trajectory` succeeded at time: 1780433686.15910339 seconds ×3 + 2.60sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.60sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×2 + 2.68sWARNcontroller_managerOverrun might occur, Total time : 4113.058 us (Expected < 1666.667 us) --> Read time : 211.115 us, Update time : 3361.691 us, Write time : 540.252 us + 2.68sWARNros2_control_nodeOverrun might occur, Total time : 4113.058 us (Expected < 1666.667 us) --> Read time : 211.115 us, Update time : 3361.691 us, Write time : 540.252 us[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Record and Replay Scanning Motion` starting at time: 1780433686.72916126 seconds. ×3 + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378437 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.378437 ms (missed cycles : 4).[0m ×2 + 3.18sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.28sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). ×2 + 3.28sINFOobjective_server_nodePath shortcutter: [X________X] ×2 + 3.29sINFOros2_control_node[2026-06-02 20:54:46.864] [info] Received new action goal ×2 + 3.29sINFOros2_control_node[2026-06-02 20:54:46.864] [info] Accepted new action goal ×2 + 4.19sWARNcontroller_managerOverrun might occur, Total time : 2377.311 us (Expected < 1666.667 us) --> Read time : 186.204 us, Update time : 1772.758 us, Write time : 418.349 us + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun might occur, Total time : 2377.311 us (Expected < 1666.667 us) --> Read time : 186.204 us, Update time : 1772.758 us, Write time : 418.349 us[0m ×2 + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.660352 ms (missed cycles : 2).[0m ×2 + 5.20sINFOobjective_server_nodePlanning for 9 path waypoints. ×3 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.502230 ms (missed cycles : 6). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.502230 ms (missed cycles : 6).[0m ×2 + 5.42sWARNcontroller_managerOverrun might occur, Total time : 8562.642 us (Expected < 1666.667 us) --> Read time : 281.536 us, Update time : 7568.571 us, Write time : 712.535 us + 5.42sWARNros2_control_nodeOverrun might occur, Total time : 8562.642 us (Expected < 1666.667 us) --> Read time : 281.536 us, Update time : 7568.571 us, Write time : 712.535 us[0m ×2 | ||||
| − skipped | Record Square Trajectory | record_square_trajectory.xml | 0.0s | 3 errors · 42 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 4.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 4.67sINFOobjective_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 + 4.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 5.93sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Reflect Poses Subtree | reflect_poses_subtree.xml | 0.0s | 3 errors · 42 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 4.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 4.67sINFOobjective_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 + 4.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 5.93sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part | register_cad_part.xml | 0.0s | 3 errors · 42 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 4.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 4.67sINFOobjective_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 + 4.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 5.93sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Register CAD Part Subtree | register_cad_part_subtree.xml | 0.0s | 3 errors · 42 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 9096.923 us (Expected < 1666.667 us) --> Read time : 323.107 us, Update time : 8118.932 us, Write time : 654.884 us[0m ×2 + 0.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2). + 0.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942532 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 1.10sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 1.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 1.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 2.27sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 2.27sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 3.35sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 3.42sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.42sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.47sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 3.47sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 3.98sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.03sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.04sINFOcontroller_managerSuccessfully switched controllers! ×2 + 4.04sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.04sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 4.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 4.04sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 4.06sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 4.06sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 4.07sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.07sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 4.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 4.09sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 4.64sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 4.67sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 4.67sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 4.67sINFOobjective_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 + 4.67sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 5.36sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 5.37sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 5.46sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 5.46sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 5.47sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 5.85sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 5.85sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 5.93sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Scan Scene - Multiple Point Clouds | scan_scene_-_multiple_point_clouds.xml | 0.0s | 3 errors · 42 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 1.17sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 4.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Bottle Subtree | segment_bottle_subtree.xml | 0.0s | 3 errors · 42 warnings · 70 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2213.987 us (Expected < 1666.667 us) --> Read time : 164.814 us, Update time : 1628.224 us, Write time : 420.949 us[0m ×2 + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.515596 ms (missed cycles : 6).[0m ×2 + 1.17sWARNcontroller_managerOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us + 1.17sWARNros2_control_nodeOverrun might occur, Total time : 1860.639 us (Expected < 1666.667 us) --> Read time : 251.205 us, Update time : 58.321 us, Write time : 1551.113 us[0m ×2 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 12.355906 ms (missed cycles : 8).[0m ×2 + 2.25sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Record and Replay Scanning Motion` was cancelled: Objective execution was halted at time: 1780433697.08251810 seconds ×3 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059083 ms (missed cycles : 2).[0m ×2 + 2.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.33sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 2.37sWARNcontroller_managerOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us + 2.37sWARNros2_control_nodeOverrun might occur, Total time : 6098.209 us (Expected < 1666.667 us) --> Read time : 308.656 us, Update time : 5102.769 us, Write time : 686.784 us[0m ×2 + 2.88sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` starting at time: 1780433697.70871758 seconds. ×3 + 2.94sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.94sINFOcontroller_managerSuccessfully switched controllers! ×2 + 2.94sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.94sWARNcontroller_managerOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us + 2.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 2.94sWARNros2_control_nodeOverrun might occur, Total time : 1893.920 us (Expected < 1666.667 us) --> Read time : 921.350 us, Update time : 194.824 us (Switch time : 85.942 us (Switch chained mode time : 0.460 us, perform mode change time : 6.950 us, Activation time : 0.370 us, Deactivation time : 67.481 us)), Write time : 777.746 us[0m ×2 + 2.96sINFOros2_control_nodeSetting 7 joint states in MuJoCo[0m ×2 + 2.96sINFOros2_control_nodeSuccessfully set 7 of 7 requested joint states.[0m ×2 + 2.97sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.97sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.98sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ] + 2.98sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller robotiq_gripper_controller ][0m ×2 + 2.99sINFOobjective_server_nodeObjective `Reset MuJoCo Robot` succeeded at time: 1780433697.81887078 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809390 ms (missed cycles : 3).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Save Robot Joint State` starting at time: 1780433698.37315583 seconds. ×3 + 3.57sWARNcontroller_managerOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us + 3.57sWARNros2_control_nodeOverrun might occur, Total time : 3243.479 us (Expected < 1666.667 us) --> Read time : 365.367 us, Update time : 2269.879 us, Write time : 608.233 us[0m ×2 + 3.57sINFOobjective_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 + 3.57sINFOobjective_server_nodeObjective `Save Robot Joint State` succeeded at time: 1780433698.40580630 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Stationary Admittance` starting at time: 1780433699.08970642 seconds. ×3 + 4.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.264556 ms (missed cycles : 7).[0m ×2 + 4.36sINFOobjective_server_nodeFound path in 0 iterations (4e-07 s). ×2 + 4.36sINFOobjective_server_nodePath shortcutter: [X___X] ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Received new action goal ×2 + 4.37sINFOros2_control_node[2026-06-02 20:54:59.204] [info] Accepted new action goal ×2 + 4.75sWARNcontroller_managerOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us + 4.75sWARNros2_control_nodeOverrun might occur, Total time : 2504.833 us (Expected < 1666.667 us) --> Read time : 204.634 us, Update time : 1844.079 us, Write time : 456.120 us[0m ×2 + 4.83sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 1.39% of iterations over budget over 5:10.011 of wall time (1324/95282). Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.997891 ms (missed cycles : 3).[0m ×2 + 5.97sWARNcontroller_managerOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us + 5.97sWARNros2_control_nodeOverrun might occur, Total time : 1995.722 us (Expected < 1666.667 us) --> Read time : 861.708 us, Update time : 98.332 us, Write time : 1035.682 us[0m ×2 + 6.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3). + 6.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.826968 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Stitch Multiple Point Clouds Together | stitch_multiple_point_clouds_together.xml | 0.0s | 3 errors · 42 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us + 2.49sWARNros2_control_nodeOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2).[0m ×2 + 3.36sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Got request to cancel active goal. ×2 + 3.36sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Canceling active goal... ×2 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433709.70513988 seconds ×3 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433710.26620245 seconds. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433711.60634947 seconds ×3 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us + 5.70sWARNros2_control_nodeOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433712.16521645 seconds. ×3 + 5.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.83sINFOobjective_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 + 5.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433712.16772676 seconds ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433712.72707796 seconds. ×3 + 6.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433712.72768164 seconds ×3 | ||||
| − skipped | Take Wrist Camera Image | take_picture_with_wrist_camera.xml | 0.0s | 3 errors · 42 warnings · 44 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.391617 ms (missed cycles : 4).[0m ×2 + 0.40sWARNcontroller_managerOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us + 0.40sWARNros2_control_nodeOverrun might occur, Total time : 3273.730 us (Expected < 1666.667 us) --> Read time : 488.371 us, Update time : 498.950 us, Write time : 2286.409 us[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.748677 ms (missed cycles : 2).[0m ×2 + 1.47sWARNcontroller_managerOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us + 1.47sWARNros2_control_nodeOverrun might occur, Total time : 3497.375 us (Expected < 1666.667 us) --> Read time : 231.865 us, Update time : 2654.387 us, Write time : 611.123 us[0m ×2 + 2.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4). + 2.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066089 ms (missed cycles : 4).[0m ×2 + 2.49sWARNcontroller_managerOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us + 2.49sWARNros2_control_nodeOverrun might occur, Total time : 2093.184 us (Expected < 1666.667 us) --> Read time : 242.855 us, Update time : 115.582 us, Write time : 1734.747 us[0m ×2 + 3.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2). + 3.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851551 ms (missed cycles : 2).[0m ×2 + 3.36sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Got request to cancel active goal. ×2 + 3.36sINFOros2_control_node[2026-06-02 20:55:09.692] [info] Canceling active goal... ×2 + 3.37sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Stationary Admittance` was cancelled: Objective execution was halted at time: 1780433709.70513988 seconds ×3 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 3.39sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 3.53sWARNcontroller_managerOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us + 3.54sWARNros2_control_nodeOverrun might occur, Total time : 1779.128 us (Expected < 1666.667 us) --> Read time : 729.936 us, Update time : 73.752 us, Write time : 975.440 us[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1780433710.26620245 seconds. ×3 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3). + 4.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488373 ms (missed cycles : 3).[0m ×2 + 4.60sWARNcontroller_managerOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us + 4.60sWARNros2_control_nodeOverrun might occur, Total time : 4386.313 us (Expected < 1666.667 us) --> Read time : 169.713 us, Update time : 3532.655 us, Write time : 683.945 us[0m ×2 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.510687 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1780433711.60634947 seconds ×3 + 5.69sWARNcontroller_managerOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us + 5.70sWARNros2_control_nodeOverrun might occur, Total time : 6120.370 us (Expected < 1666.667 us) --> Read time : 5387.834 us, Update time : 88.062 us, Write time : 644.474 us[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Vector and String Example` starting at time: 1780433712.16521645 seconds. ×3 + 5.83sINFOobjective_server_nodeLogMessage Info: ros2 topic echo /secret_msg std_msgs/msg/String --qos-profile system_default ×3 + 5.83sINFOobjective_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 + 5.83sWARNobjective_server_nodeLogMessage Warning: Make sure you have INFO alert types enables in order to see the messages. ×3 + 5.83sINFOobjective_server_nodeObjective `Vector and String Example` succeeded at time: 1780433712.16772676 seconds ×3 + 6.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7). + 6.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 11.219665 ms (missed cycles : 7).[0m ×2 + 6.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` starting at time: 1780433712.72707796 seconds. ×3 + 6.39sINFOobjective_server_nodeObjective `Visualize Grasp Link` succeeded at time: 1780433712.72768164 seconds ×3 | ||||
▾
/__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 might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass8 skip
| ✓ passed | — | clear_snapshot.xml | 8.5s | 64 warnings · 472 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/2026-06-02-20-49-44-385159-e958eae1dc47-8689 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.60sINFOcontroller_managerupdate rate is 600 Hz + 1.60sINFOcontroller_managerOverruns handling is : enabled + 1.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.60sWARNcontroller_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. + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306314 ms (missed cycles : 2). + 1.71sINFOros2_control_node-1process started with pid [8736] ×2 + 1.71sINFOmove_group-9process started with pid [8762] ×2 + 1.71sINFOparameter_manager_node-10process started with pid [8763] ×2 + 1.71sINFOwaypoint_manager_node-11process started with pid [8764] ×2 + 1.71sINFOmove_joint_resampler_node-12process started with pid [8765] ×2 + 1.71sINFOmove_end_effector_resampler_node-13process started with pid [8766] ×2 + 1.71sINFOobjective_server_node_main-14process started with pid [8767] ×2 + 1.71sINFOcomponent_container_mt-15process started with pid [8768] ×2 + 1.71sINFOexecute_objective_bridge-16process started with pid [8769] ×2 + 1.71sINFOui_teleop_bridge-17process started with pid [8770] ×2 + 1.71sINFOrosapi_node-18process started with pid [8771] ×2 + 1.71sINFOrosbridge_websocket-19process started with pid [8772] ×2 + 1.71sINFOtf2_web_republisher_node-20process started with pid [8868] ×2 + 1.71sINFOweb_video_server-21process started with pid [8869] ×2 + 1.71sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [8737] ×2 + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [8738] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [8739] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [8740] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [8742] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [8744] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [8746] ×2 + 1.75sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.75sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.75sWARNros2_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 + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306314 ms (missed cycles : 2).[0m ×2 + 1.76sINFOcontroller_managerReceived robot description from topic. + 1.76sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.80sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.80sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.09sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.09sINFOweb_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 9.257896 ms (missed cycles : 6). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.257896 ms (missed cycles : 6).[0m ×2 + 3.07sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 3.15sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 3.15sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... ×2 + 3.18sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 3.18sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 3.18sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 3.18sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 3.20sINFOrosbridge_websocketregistered capabilities (classes): ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise.Advertise'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.publish.Publish'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.subscribe.Subscribe'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.defragmentation.Defragment'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_service.AdvertiseService'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.call_service.CallService'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.service_response.ServiceResponse'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_service.UnadvertiseService'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.advertise_action.AdvertiseAction'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_feedback.ActionFeedback'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.action_result.ActionResult'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.send_action_goal.SendActionGoal'> ×2 + 3.20sINFOrosbridge_websocket- <class 'rosbridge_library.capabilities.unadvertise_action.UnadvertiseAction'> ×2 + 4.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 4.37sINFOobjective_server_node[2026-06-02 20:49:49.520] [moveit_pro_license] [info] ×2 + 4.37sINFOobjective_server_node************************************************* ×4 + 4.37sINFOobjective_server_node* MoveIt Pro License ×2 + 4.37sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 4.48sWARNros2_control_nodeNo keyframe specified, applying first keyframe to set initial state.[0m ×2 + 4.48sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 4.48sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 4.48sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 4.48sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 4.48sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 4.48sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 4.48sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 4.48sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 4.48sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 4.48sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 4.48sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 4.48sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 4.65sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 4.65sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 4.65sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 4.65sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 4.66sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 4.66sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 4.67sINFOspawner_joint_state_broadcasterLoaded joint_state_broadcaster + 4.67sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterLoaded joint_state_broadcaster ×2 + 4.67sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 4.67sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 4.68sWARNjoint_state_broadcasterMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter. + 4.68sWARNjoint_state_broadcasterMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter. + 4.68sWARNjoint_state_broadcasterMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter. + 4.68sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 4.68sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 4.68sWARNros2_control_nodeMapping from 'position' to interface 'position' will not be done, because 'position' is defined in 'interface' parameter.[0m ×2 + 4.68sWARNros2_control_nodeMapping from 'velocity' to interface 'velocity' will not be done, because 'velocity' is defined in 'interface' parameter.[0m ×2 + 4.68sWARNros2_control_nodeMapping from 'effort' to interface 'effort' will not be done, because 'effort' is defined in 'interface' parameter.[0m ×2 + 4.68sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 4.69sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 4.69sINFOcontroller_managerSuccessfully switched controllers! ×4 + 4.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×8 + 4.69sINFOspawner_joint_state_broadcasterConfigured and activated joint_state_broadcaster + 4.69sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcasterConfigured and activated joint_state_broadcaster ×2 + 4.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 4.90sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 4.91sINFOobjective_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 + 4.91sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 4.93sINFOobjective_server_nodeLoading 7 behavior loader plugin(s): ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodemoveit_pro::behaviors::MPCBehaviorsLoader ×2 + 4.93sINFOobjective_server_nodelab_sim_behaviors::LabSimBehaviorsLoader ×2 + 4.95sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 4.95sINFOmove_group[96mLoading 'move_group/ExecuteTaskSolutionCapability'...[0m ×2 + 4.98sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 4.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 4.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 4.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 5.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712156 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712156 ms (missed cycles : 3).[0m ×2 + 5.02sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process has finished cleanly [pid 8739] ×2 + 5.03sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 5.03sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 5.03sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 5.03sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 5.03sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 5.03sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 5.08sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/SetActiveControllerService'...[0m ×2 + 5.12sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 5.12sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 5.13sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 5.16sINFOspawner_joint_velocity_controllerLoaded joint_velocity_controller + 5.16sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controllerLoaded joint_velocity_controller ×2 + 5.17sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 5.17sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 5.17sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×6 + 5.20sINFOmove_group ×4 + 5.20sINFOmove_group[92mYou can start planning now![0m ×2 + 5.20sINFOros2_control_node[2026-06-02 20:49:50.345] [info] Controller state will be published at 20 Hz. ×2 + 5.20sINFOros2_control_node[2026-06-02 20:49:50.346] [info] JointVelocityController 'on_configure' succeeded. ×2 + 5.31sWARNobjective_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 + 5.34sWARNcontroller_managerOverrun might occur, Total time : 2283.219 us (Expected < 1666.667 us) --> Read time : 1257.687 us, Update time : 350.797 us, Write time : 674.735 us + 5.35sWARNros2_control_nodeOverrun might occur, Total time : 2283.219 us (Expected < 1666.667 us) --> Read time : 1257.687 us, Update time : 350.797 us, Write time : 674.735 us[0m ×2 + 5.43sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 5.43sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 5.43sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 5.43sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 5.43sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 5.43sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 5.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process has finished cleanly [pid 8746] ×2 + 5.51sINFOspawner_joint_trajectory_controllerLoaded joint_trajectory_controller + 5.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerLoaded joint_trajectory_controller ×2 + 5.51sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 5.51sINFOjoint_trajectory_controllerCommand interfaces are [position] and state interfaces are [position velocity]. + 5.51sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 5.51sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 5.51sINFOros2_control_nodeCommand interfaces are [position] and state interfaces are [position velocity].[0m ×2 + 5.51sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 5.51sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 5.51sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 5.52sINFOjoint_trajectory_controllerSetting initial scaling factor to 1.000000 + 5.52sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 5.52sINFOros2_control_nodeSetting initial scaling factor to 1.000000[0m ×2 + 5.52sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 5.52sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.52sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.53sINFOspawner_joint_trajectory_controllerConfigured and activated joint_trajectory_controller + 5.53sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controllerConfigured and activated joint_trajectory_controller ×2 + 5.81sINFOcontroller_managerLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController' + 5.81sINFOcontroller_managerLoading controller 'robotiq_gripper_controller' + 5.81sINFOros2_control_nodeLoading controller : 'robotiq_gripper_controller' of type 'position_controllers/GripperActionController'[0m ×2 + 5.81sINFOros2_control_nodeLoading controller 'robotiq_gripper_controller'[0m ×2 + 5.82sINFOcontroller_managerController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 5.82sINFOros2_control_nodeController 'robotiq_gripper_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 5.83sWARNrobotiq_gripper_controller[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 5.83sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 5.83sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process has finished cleanly [pid 8740] ×2 + 5.87sINFOspawner_robotiq_gripper_controllerLoaded robotiq_gripper_controller + 5.87sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerLoaded robotiq_gripper_controller ×2 + 5.87sINFOcontroller_managerConfiguring controller: 'robotiq_gripper_controller' + 5.87sINFOrobotiq_gripper_controllerAction status changes will be monitored at 20.000000 Hz. + 5.87sINFOros2_control_nodeConfiguring controller: 'robotiq_gripper_controller'[0m ×2 + 5.87sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 5.87sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller ][0m ×2 + 5.88sWARNcontroller_managerOverrun might occur, Total time : 4082.737 us (Expected < 1666.667 us) --> Read time : 190.064 us, Update time : 3362.262 us (Switch time : 3297.390 us (Switch chained mode time : 0.830 us, perform mode change time : 1.920 us, Activation time : 3286.300 us, Deactivation time : 0.470 us)), Write time : 530.411 us + 5.88sWARNros2_control_nodeOverrun might occur, Total time : 4082.737 us (Expected < 1666.667 us) --> Read time : 190.064 us, Update time : 3362.262 us (Switch time : 3297.390 us (Switch chained mode time : 0.830 us, perform mode change time : 1.920 us, Activation time : 3286.300 us, Deactivation time : 0.470 us)), Write time : 530.411 us[0m ×2 + 5.88sINFOspawner_robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller + 5.88sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controllerConfigured and activated robotiq_gripper_controller ×2 + 6.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776321 ms (missed cycles : 2). + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776321 ms (missed cycles : 2).[0m ×2 + 6.18sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process has finished cleanly [pid 8738] ×2 + 6.19sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 6.19sINFOcontroller_managerLoading controller 'velocity_force_controller' + 6.19sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 6.19sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 6.27sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 6.27sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 6.31sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 6.31sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 6.32sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 6.32sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 6.35sINFOros2_control_node[2026-06-02 20:49:51.494] [info] Controller state will be published at 10 Hz. ×2 + 6.35sINFOros2_control_node[2026-06-02 20:49:51.495] [info] VelocityForceController 'on_configure' succeeded. ×2 + 6.66sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 6.66sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 6.66sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 6.66sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 6.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 6.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 6.68sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 8744] ×2 + 6.71sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 6.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 6.71sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 6.71sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 6.72sINFOforce_torque_sensor_broadcasterconfigure successful + 6.72sINFOros2_control_nodeconfigure successful[0m ×2 + 6.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 6.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 6.73sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 6.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 6.94sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 7.00sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×8 + 7.00sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×8 + 7.04sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 7.04sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 7.04sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 7.04sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 7.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 8737] ×2 + 7.12sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 7.12sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 7.17sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 7.17sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 7.17sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 7.17sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 7.17sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.17sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 7.20sINFOros2_control_node[2026-06-02 20:49:52.343] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 7.20sINFOros2_control_node[2026-06-02 20:49:52.343] [info] Controller state will be published at 50 Hz. ×2 + 7.20sINFOros2_control_node[2026-06-02 20:49:52.348] [info] Registered `FollowJointTrajectory` action server. ×2 + 7.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6). + 7.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6).[0m ×2 + 7.51sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 8742] ×2 + 7.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780433392.81343913 seconds. ×3 + 7.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780433392.82408953 seconds ×3 + 8.01sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 8.02sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 8.24sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 8.24sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 8.24sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 9.15sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 9.15sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 9.35sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 9.93sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 10.17sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 10.17sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 10.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 10.99sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 11.38sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 11.38sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 45 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 4.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 5.56sINFOobjective_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 + 5.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.67sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 6.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 6.97sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 6.98sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 9 warnings · 106 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/2026-06-02-20-49-44-385159-e958eae1dc47-8689 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 1.57sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 1.60sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 1.60sINFOcontroller_managerupdate rate is 600 Hz + 1.60sINFOcontroller_managerOverruns handling is : enabled + 1.60sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 1.60sWARNcontroller_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. + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306314 ms (missed cycles : 2). + 1.71sINFOros2_control_node-1process started with pid [8736] ×2 + 1.71sINFOmove_group-9process started with pid [8762] ×2 + 1.71sINFOparameter_manager_node-10process started with pid [8763] ×2 + 1.71sINFOwaypoint_manager_node-11process started with pid [8764] ×2 + 1.71sINFOmove_joint_resampler_node-12process started with pid [8765] ×2 + 1.71sINFOmove_end_effector_resampler_node-13process started with pid [8766] ×2 + 1.71sINFOobjective_server_node_main-14process started with pid [8767] ×2 + 1.71sINFOcomponent_container_mt-15process started with pid [8768] ×2 + 1.71sINFOexecute_objective_bridge-16process started with pid [8769] ×2 + 1.71sINFOui_teleop_bridge-17process started with pid [8770] ×2 + 1.71sINFOrosapi_node-18process started with pid [8771] ×2 + 1.71sINFOrosbridge_websocket-19process started with pid [8772] ×2 + 1.71sINFOtf2_web_republisher_node-20process started with pid [8868] ×2 + 1.71sINFOweb_video_server-21process started with pid [8869] ×2 + 1.71sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process started with pid [8737] ×2 + 1.71sINFOros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3process started with pid [8738] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_state_broadcaster-4process started with pid [8739] ×2 + 1.72sINFOros2 run controller_manager spawner --controller-manager-timeout 180 joint_trajectory_controller-5process started with pid [8740] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process started with pid [8742] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process started with pid [8744] ×2 + 1.73sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_velocity_controller-8process started with pid [8746] ×2 + 1.75sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 1.75sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 1.75sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 1.75sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 1.75sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 1.75sWARNros2_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 + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.306314 ms (missed cycles : 2).[0m ×2 + 1.76sINFOcontroller_managerReceived robot description from topic. + 1.76sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 1.77sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 1.77sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 1.78sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 1.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264 + 1.79sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/h264[0m ×2 + 1.80sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 1.80sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 1.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/mjpeg[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/png[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/ros_compressed[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp8[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/stream/vp9[0m ×2 + 2.09sINFOweb_video_serverWaiting For connections on 0.0.0.0:3202 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/jpeg[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/png[0m ×2 + 2.09sINFOweb_video_serverLoading streamer plugin: web_video_server/snapshot/ros_compressed[0m ×2 + 2.09sINFOweb_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 9.257896 ms (missed cycles : 6). + 2.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.257896 ms (missed cycles : 6).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 36 warnings · 177 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.04sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.494] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.495] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 8744] ×2 + 0.44sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOforce_torque_sensor_broadcasterconfigure successful + 0.45sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.46sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 8737] ×2 + 0.85sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.85sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.90sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] Controller state will be published at 50 Hz. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.348] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6).[0m ×2 + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 8742] ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780433392.81343913 seconds. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780433392.82408953 seconds ×3 + 1.75sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 1.75sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 1.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 6.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 6.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 | ||||
| − skipped | — | createvector.xml | 0.0s | 36 warnings · 177 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.04sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.494] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.495] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 8744] ×2 + 0.44sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOforce_torque_sensor_broadcasterconfigure successful + 0.45sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.46sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 8737] ×2 + 0.85sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.85sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.90sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] Controller state will be published at 50 Hz. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.348] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6).[0m ×2 + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 8742] ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780433392.81343913 seconds. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780433392.82408953 seconds ×3 + 1.75sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 1.75sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 1.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 6.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 6.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 36 warnings · 177 info |
+ 0.00sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.00sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.04sINFOspawner_velocity_force_controllerLoaded velocity_force_controller + 0.05sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controllerLoaded velocity_force_controller ×2 + 0.05sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 0.05sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 0.05sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×4 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.494] [info] Controller state will be published at 10 Hz. ×2 + 0.08sINFOros2_control_node[2026-06-02 20:49:51.495] [info] VelocityForceController 'on_configure' succeeded. ×2 + 0.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 0.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 0.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 0.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 0.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.41sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive velocity_force_controller-7process has finished cleanly [pid 8744] ×2 + 0.44sINFOspawner_force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster + 0.44sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterLoaded force_torque_sensor_broadcaster ×2 + 0.44sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 0.45sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 0.45sINFOforce_torque_sensor_broadcasterconfigure successful + 0.45sINFOros2_control_nodeconfigure successful[0m ×2 + 0.46sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 0.46sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 0.46sINFOcontroller_managerSuccessfully switched controllers! ×3 + 0.46sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 0.46sINFOspawner_force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster + 0.46sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcasterConfigured and activated force_torque_sensor_broadcaster ×2 + 0.67sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/lab_sim/auto_created/generated_tree_nodes_model.xml ×2 + 0.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×16 + 0.73sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×16 + 0.77sINFOcontroller_managerLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController' + 0.77sINFOcontroller_managerLoading controller 'joint_trajectory_admittance_controller' + 0.77sINFOros2_control_nodeLoading controller : 'joint_trajectory_admittance_controller' of type 'joint_trajectory_admittance_controller/JointTrajectoryAdmittanceController'[0m ×2 + 0.78sINFOros2_control_nodeLoading controller 'joint_trajectory_admittance_controller'[0m ×2 + 0.78sINFOros2 run controller_manager spawner --controller-manager-timeout 180 force_torque_sensor_broadcaster-2process has finished cleanly [pid 8737] ×2 + 0.85sINFOcontroller_managerController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 + 0.85sINFOros2_control_nodeController 'joint_trajectory_admittance_controller' node arguments: --ros-args --params-file /tmp/launch_params_cen3drpi --params-file /tmp/launch_params_4cgrb5bn --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_j8u0p5px --params-file /tmp/launch_params_o87b3u_9 [0m ×2 + 0.90sINFOspawner_joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller + 0.90sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controllerLoaded joint_trajectory_admittance_controller ×2 + 0.90sINFOcontroller_managerConfiguring controller: 'joint_trajectory_admittance_controller' + 0.90sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_admittance_controller'[0m ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'sensor_frame' parameter is deprecated, the 'sensor_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.90sINFOros2_control_node[2026-06-02 20:49:52.317] [warning] The 'ee_frame' parameter is deprecated, the 'ee_frames' parameter should be set instead in the JointTrajectoryAdmittanceController config. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] First order lag filter time constant set to: 0.2 seconds ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.343] [info] Controller state will be published at 50 Hz. ×2 + 0.93sINFOros2_control_node[2026-06-02 20:49:52.348] [info] Registered `FollowJointTrajectory` action server. ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.455485 ms (missed cycles : 6).[0m ×2 + 1.24sINFOros2 run controller_manager spawner --controller-manager-timeout 180 --inactive joint_trajectory_admittance_controller-6process has finished cleanly [pid 8742] ×2 + 1.40sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1780433392.81343913 seconds. ×3 + 1.41sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1780433392.82408953 seconds ×3 + 1.75sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 1.75sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 1.97sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 1.97sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 2.88sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 2.88sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 3.08sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 3.67sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 3.90sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 3.90sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 4.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 4.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 4.73sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 5.11sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 5.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 5.11sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 5.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 5.30sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 5.86sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 6.01sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 6.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 6.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 6.26sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 6.26sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 6.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 6.68sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.68sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.68sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.68sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.68sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.69sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.69sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.70sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.70sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 6.71sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 6.71sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 6.71sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 6.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 | ||||
| − skipped | — | request_teleoperation.xml | 0.0s | 42 warnings · 117 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 4068.417 us (Expected < 1666.667 us) --> Read time : 263.576 us, Update time : 3300.600 us, Write time : 504.241 us[0m ×2 + 0.22sINFOobjective_server_nodeObjective `Close Gripper` starting at time: 1780433393.38615680 seconds. ×3 + 0.23sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.23sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 0.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3). + 0.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.284202 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 1.14sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 1.33sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 1.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.35sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 1.92sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 2.15sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 2.16sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 2.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 2.98sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 3.53sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 3.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 4.11sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 4.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 4.51sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 4.51sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 4.92sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 4.94sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.94sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.94sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.94sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.94sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.94sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.94sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.95sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.95sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.96sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.96sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.96sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 4.96sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 4.96sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 4.96sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 4.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 5.56sINFOobjective_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 + 5.57sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 5.57sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.57sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 5.57sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 5.57sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 5.57sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 5.66sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 5.66sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 5.67sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 5.67sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 5.96sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 5.96sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 6.49sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 39 warnings · 111 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[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 might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 + 6.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 48 warnings · 125 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 + 6.99sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 7.08sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.10sWARNcontroller_managerOverrun might occur, Total time : 4317.723 us (Expected < 1666.667 us) --> Read time : 678.315 us, Update time : 70.401 us, Write time : 3569.007 us + 7.10sWARNros2_control_nodeOverrun might occur, Total time : 4317.723 us (Expected < 1666.667 us) --> Read time : 678.315 us, Update time : 70.401 us, Write time : 3569.007 us[0m ×2 + 7.10sINFOros2_control_node[2026-06-02 20:50:01.400] [info] Received new action goal ×2 + 7.10sINFOros2_control_node[2026-06-02 20:50:01.400] [info] Accepted new action goal ×2 + 7.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973752 ms (missed cycles : 2). + 7.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.973752 ms (missed cycles : 2).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 42 warnings · 114 info |
+ 0.00sWARNcontroller_managerOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us + 0.00sWARNros2_control_nodeOverrun might occur, Total time : 2300.769 us (Expected < 1666.667 us) --> Read time : 233.015 us, Update time : 1601.764 us, Write time : 465.990 us[0m ×2 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.309513 ms (missed cycles : 4).[0m ×2 + 0.20sINFOobjective_server_nodeObjective `Close Gripper` succeeded at time: 1780433394.49634027 seconds ×3 + 0.21sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 0.21sINFOros2_control_nodeSimulation thread processed keyframe reset.[0m ×12 + 0.78sINFOobjective_server_nodeObjective `Open Gripper` starting at time: 1780433395.08261037 seconds. ×3 + 0.79sINFOrobotiq_gripper_controllerReceived & accepted new action goal ×2 + 0.79sINFOros2_control_nodeReceived & accepted new action goal[0m ×4 + 1.02sWARNcontroller_managerOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us + 1.02sWARNros2_control_nodeOverrun might occur, Total time : 1988.003 us (Expected < 1666.667 us) --> Read time : 266.066 us, Update time : 93.162 us, Write time : 1628.775 us[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088631 ms (missed cycles : 2).[0m ×2 + 1.84sINFOobjective_server_nodeObjective `Open Gripper` succeeded at time: 1780433396.14276099 seconds ×3 + 2.23sWARNcontroller_managerOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2). + 2.23sWARNros2_control_nodeOverrun might occur, Total time : 1932.672 us (Expected < 1666.667 us) --> Read time : 158.364 us, Update time : 40.280 us, Write time : 1734.028 us[0m ×2 + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166541 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1780433396.69581056 seconds. ×3 + 2.42sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1780433396.71593690 seconds ×3 + 2.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1780433397.27419615 seconds. ×3 + 3.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1780433397.42471480 seconds ×3 + 3.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2). + 3.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.696181 ms (missed cycles : 2).[0m ×2 + 3.37sWARNcontroller_managerOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us + 3.37sWARNros2_control_nodeOverrun might occur, Total time : 3726.890 us (Expected < 1666.667 us) --> Read time : 146.483 us, Update time : 57.361 us, Write time : 3523.046 us[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1780433398.08487630 seconds. ×3 + 3.80sINFOcontroller_managerDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.80sINFOros2_control_nodeDeactivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.80sINFOcontroller_managerDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.80sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.80sINFOros2_control_nodeDeactivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.80sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.81sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.81sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.82sINFOcontroller_managerActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sINFOros2_control_nodeActivating controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.82sWARNcontroller_managerOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us + 3.82sINFOcontroller_managerActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ] + 3.82sWARNros2_control_nodeOverrun might occur, Total time : 3742.101 us (Expected < 1666.667 us) --> Read time : 205.324 us, Update time : 2897.193 us (Switch time : 2836.412 us (Switch chained mode time : 0.530 us, perform mode change time : 5.350 us, Activation time : 2815.561 us, Deactivation time : 0.460 us)), Write time : 639.584 us[0m ×2 + 3.83sINFOros2_control_nodeActivated controllers: [ robotiq_gripper_controller joint_trajectory_controller ][0m ×2 + 3.83sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1780433398.12809062 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.898573 ms (missed cycles : 5).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `3 Waypoints Pick and Place` starting at time: 1780433398.70851541 seconds. ×3 + 4.43sINFOobjective_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 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOcontroller_managerDeactivating controllers: [ joint_trajectory_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.43sINFOros2_control_nodeDeactivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerDeactivated controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_admittance_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_admittance_controller ][0m ×2 + 4.53sINFOobjective_server_nodeFound path in 0 iterations (2.098e-05 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X_______X] ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Received new action goal ×2 + 4.54sINFOros2_control_node[2026-06-02 20:49:58.835] [info] Accepted new action goal ×2 + 4.82sWARNcontroller_managerOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us + 4.82sWARNros2_control_nodeOverrun might occur, Total time : 1808.919 us (Expected < 1666.667 us) --> Read time : 779.167 us, Update time : 83.592 us, Write time : 946.160 us[0m ×2 + 5.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4). + 5.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.042692 ms (missed cycles : 4).[0m ×2 + 5.35sINFOros2_control_nodeMuJoCo sim overruns (rolling 10 min window): 0.60% of iterations over budget over 0:10.001 of wall time (19/3155). Below 1% is expected on a non-realtime system.[0m ×2 + 5.84sWARNcontroller_managerOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us + 5.84sWARNros2_control_nodeOverrun might occur, Total time : 1965.943 us (Expected < 1666.667 us) --> Read time : 175.954 us, Update time : 1377.010 us, Write time : 412.979 us[0m ×2 + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.492557 ms (missed cycles : 3).[0m ×2 | ||||